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Fix string comparisons, improve const correctness

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This commit is contained in:
Carles Fernandez 2018-12-02 15:42:38 +01:00
parent cc58fbe30f
commit f7df714a7f
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GPG Key ID: 4C583C52B0C3877D
14 changed files with 300 additions and 299 deletions
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8
src/algorithms/PVT/libs/geojson_printer.cc
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@ -68,7 +68,7 @@ GeoJSON_Printer::GeoJSON_Printer(const std::string& base_path)
{ {
geojson_base_path = p.string(); geojson_base_path = p.string();
} }
if (geojson_base_path.compare(".") != 0) if (geojson_base_path != ".")
{ {
std::cout << "GeoJSON files will be stored at " << geojson_base_path << std::endl; std::cout << "GeoJSON files will be stored at " << geojson_base_path << std::endl;
} }
@ -83,7 +83,7 @@ GeoJSON_Printer::~GeoJSON_Printer()
} }
bool GeoJSON_Printer::set_headers(std::string filename, bool time_tag_name) bool GeoJSON_Printer::set_headers(const std::string& filename, bool time_tag_name)
{ {
boost::posix_time::ptime pt = boost::posix_time::second_clock::local_time(); boost::posix_time::ptime pt = boost::posix_time::second_clock::local_time();
tm timeinfo = boost::posix_time::to_tm(pt); tm timeinfo = boost::posix_time::to_tm(pt);
@ -140,7 +140,7 @@ bool GeoJSON_Printer::set_headers(std::string filename, bool time_tag_name)
DLOG(INFO) << "GeoJSON printer writing on " << filename.c_str(); DLOG(INFO) << "GeoJSON printer writing on " << filename.c_str();
// Set iostream numeric format and precision // Set iostream numeric format and precision
geojson_file.setf(geojson_file.fixed, geojson_file.floatfield); geojson_file.setf(geojson_file.std::ofstream::fixed, geojson_file.std::ofstream::floatfield);
geojson_file << std::setprecision(14); geojson_file << std::setprecision(14);
// Writing the header // Writing the header
@ -171,7 +171,7 @@ bool GeoJSON_Printer::print_position(const std::shared_ptr<Pvt_Solution>& positi
double longitude; double longitude;
double height; double height;
std::shared_ptr<Pvt_Solution> position_ = position; const std::shared_ptr<Pvt_Solution>& position_ = position;
if (print_average_values == false) if (print_average_values == false)
{ {

2
src/algorithms/PVT/libs/geojson_printer.h
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@ -55,7 +55,7 @@ private:
public: public:
GeoJSON_Printer(const std::string& base_path = "."); GeoJSON_Printer(const std::string& base_path = ".");
~GeoJSON_Printer(); ~GeoJSON_Printer();
bool set_headers(std::string filename, bool time_tag_name = true); bool set_headers(const std::string& filename, bool time_tag_name = true);
bool print_position(const std::shared_ptr<Pvt_Solution>& position, bool print_average_values); bool print_position(const std::shared_ptr<Pvt_Solution>& position, bool print_average_values);
bool close_file(); bool close_file();
}; };

8
src/algorithms/PVT/libs/gpx_printer.cc
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@ -70,7 +70,7 @@ Gpx_Printer::Gpx_Printer(const std::string& base_path)
{ {
gpx_base_path = p.string(); gpx_base_path = p.string();
} }
if (gpx_base_path.compare(".") != 0) if (gpx_base_path != ".")
{ {
std::cout << "GPX files will be stored at " << gpx_base_path << std::endl; std::cout << "GPX files will be stored at " << gpx_base_path << std::endl;
} }
@ -79,7 +79,7 @@ Gpx_Printer::Gpx_Printer(const std::string& base_path)
} }
bool Gpx_Printer::set_headers(std::string filename, bool time_tag_name) bool Gpx_Printer::set_headers(const std::string& filename, bool time_tag_name)
{ {
boost::posix_time::ptime pt = boost::posix_time::second_clock::local_time(); boost::posix_time::ptime pt = boost::posix_time::second_clock::local_time();
tm timeinfo = boost::posix_time::to_tm(pt); tm timeinfo = boost::posix_time::to_tm(pt);
@ -134,7 +134,7 @@ bool Gpx_Printer::set_headers(std::string filename, bool time_tag_name)
{ {
DLOG(INFO) << "GPX printer writing on " << filename.c_str(); DLOG(INFO) << "GPX printer writing on " << filename.c_str();
// Set iostream numeric format and precision // Set iostream numeric format and precision
gpx_file.setf(gpx_file.fixed, gpx_file.floatfield); gpx_file.setf(gpx_file.std::ofstream::fixed, gpx_file.std::ofstream::floatfield);
gpx_file << std::setprecision(14); gpx_file << std::setprecision(14);
gpx_file << "<?xml version=\"1.0\" encoding=\"UTF-8\"?>" << std::endl gpx_file << "<?xml version=\"1.0\" encoding=\"UTF-8\"?>" << std::endl
<< "<gpx version=\"1.1\" creator=\"GNSS-SDR\"" << std::endl << "<gpx version=\"1.1\" creator=\"GNSS-SDR\"" << std::endl
@ -164,7 +164,7 @@ bool Gpx_Printer::print_position(const std::shared_ptr<rtklib_solver>& position,
double height; double height;
positions_printed = true; positions_printed = true;
std::shared_ptr<rtklib_solver> position_ = position; const std::shared_ptr<rtklib_solver>& position_ = position;
double speed_over_ground = position_->get_speed_over_ground(); // expressed in m/s double speed_over_ground = position_->get_speed_over_ground(); // expressed in m/s
double course_over_ground = position_->get_course_over_ground(); // expressed in deg double course_over_ground = position_->get_course_over_ground(); // expressed in deg

2
src/algorithms/PVT/libs/gpx_printer.h
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@ -57,7 +57,7 @@ private:
public: public:
Gpx_Printer(const std::string& base_path = "."); Gpx_Printer(const std::string& base_path = ".");
~Gpx_Printer(); ~Gpx_Printer();
bool set_headers(std::string filename, bool time_tag_name = true); bool set_headers(const std::string& filename, bool time_tag_name = true);
bool print_position(const std::shared_ptr<rtklib_solver>& position, bool print_average_values); bool print_position(const std::shared_ptr<rtklib_solver>& position, bool print_average_values);
bool close_file(); bool close_file();
}; };

4
src/algorithms/PVT/libs/hybrid_ls_pvt.cc
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@ -173,7 +173,7 @@ bool hybrid_ls_pvt::get_PVT(std::map<int, Gnss_Synchro> gnss_observables_map, do
{ {
// 1 GPS - find the ephemeris for the current GPS SV observation. The SV PRN ID is the map key // 1 GPS - find the ephemeris for the current GPS SV observation. The SV PRN ID is the map key
std::string sig_(gnss_observables_iter->second.Signal); std::string sig_(gnss_observables_iter->second.Signal);
if (sig_.compare("1C") == 0) if (sig_ == "1C")
{ {
gps_ephemeris_iter = gps_ephemeris_map.find(gnss_observables_iter->second.PRN); gps_ephemeris_iter = gps_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (gps_ephemeris_iter != gps_ephemeris_map.end()) if (gps_ephemeris_iter != gps_ephemeris_map.end())
@ -228,7 +228,7 @@ bool hybrid_ls_pvt::get_PVT(std::map<int, Gnss_Synchro> gnss_observables_map, do
DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->first; DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->first;
} }
} }
if (sig_.compare("2S") == 0) if (sig_ == "2S")
{ {
gps_cnav_ephemeris_iter = gps_cnav_ephemeris_map.find(gnss_observables_iter->second.PRN); gps_cnav_ephemeris_iter = gps_cnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (gps_cnav_ephemeris_iter != gps_cnav_ephemeris_map.end()) if (gps_cnav_ephemeris_iter != gps_cnav_ephemeris_map.end())

10
src/algorithms/PVT/libs/kml_printer.cc
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@ -70,7 +70,7 @@ Kml_Printer::Kml_Printer(const std::string& base_path)
{ {
kml_base_path = p.string(); kml_base_path = p.string();
} }
if (kml_base_path.compare(".") != 0) if (kml_base_path != ".")
{ {
std::cout << "KML files will be stored at " << kml_base_path << std::endl; std::cout << "KML files will be stored at " << kml_base_path << std::endl;
} }
@ -87,7 +87,7 @@ Kml_Printer::Kml_Printer(const std::string& base_path)
} }
bool Kml_Printer::set_headers(std::string filename, bool time_tag_name) bool Kml_Printer::set_headers(const std::string& filename, bool time_tag_name)
{ {
boost::posix_time::ptime pt = boost::posix_time::second_clock::local_time(); boost::posix_time::ptime pt = boost::posix_time::second_clock::local_time();
tm timeinfo = boost::posix_time::to_tm(pt); tm timeinfo = boost::posix_time::to_tm(pt);
@ -143,10 +143,10 @@ bool Kml_Printer::set_headers(std::string filename, bool time_tag_name)
{ {
DLOG(INFO) << "KML printer writing on " << filename.c_str(); DLOG(INFO) << "KML printer writing on " << filename.c_str();
// Set iostream numeric format and precision // Set iostream numeric format and precision
kml_file.setf(kml_file.fixed, kml_file.floatfield); kml_file.setf(kml_file.std::ofstream::fixed, kml_file.std::ofstream::floatfield);
kml_file << std::setprecision(14); kml_file << std::setprecision(14);
tmp_file.setf(tmp_file.fixed, tmp_file.floatfield); tmp_file.setf(tmp_file.std::ofstream::fixed, tmp_file.std::ofstream::floatfield);
tmp_file << std::setprecision(14); tmp_file << std::setprecision(14);
kml_file << "<?xml version=\"1.0\" encoding=\"UTF-8\"?>" << std::endl kml_file << "<?xml version=\"1.0\" encoding=\"UTF-8\"?>" << std::endl
@ -222,7 +222,7 @@ bool Kml_Printer::print_position(const std::shared_ptr<rtklib_solver>& position,
positions_printed = true; positions_printed = true;
std::shared_ptr<rtklib_solver> position_ = position; const std::shared_ptr<rtklib_solver>& position_ = position;
double speed_over_ground = position_->get_speed_over_ground(); // expressed in m/s double speed_over_ground = position_->get_speed_over_ground(); // expressed in m/s
double course_over_ground = position_->get_course_over_ground(); // expressed in deg double course_over_ground = position_->get_course_over_ground(); // expressed in deg

2
src/algorithms/PVT/libs/kml_printer.h
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@ -60,7 +60,7 @@ private:
public: public:
Kml_Printer(const std::string& base_path = std::string(".")); Kml_Printer(const std::string& base_path = std::string("."));
~Kml_Printer(); ~Kml_Printer();
bool set_headers(std::string filename, bool time_tag_name = true); bool set_headers(const std::string& filename, bool time_tag_name = true);
bool print_position(const std::shared_ptr<rtklib_solver>& position, bool print_average_values); bool print_position(const std::shared_ptr<rtklib_solver>& position, bool print_average_values);
bool close_file(); bool close_file();
}; };

7
src/algorithms/PVT/libs/ls_pvt.cc
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@ -44,6 +44,7 @@ Ls_Pvt::Ls_Pvt() : Pvt_Solution()
{ {
} }
arma::vec Ls_Pvt::bancroftPos(const arma::mat& satpos, const arma::vec& obs) arma::vec Ls_Pvt::bancroftPos(const arma::mat& satpos, const arma::vec& obs)
{ {
// BANCROFT Calculation of preliminary coordinates for a GPS receiver based on pseudoranges // BANCROFT Calculation of preliminary coordinates for a GPS receiver based on pseudoranges
@ -233,9 +234,9 @@ arma::vec Ls_Pvt::leastSquarePos(const arma::mat& satpos, const arma::vec& obs,
Rot_X = Ls_Pvt::rotateSatellite(traveltime, X.col(i)); //armadillo Rot_X = Ls_Pvt::rotateSatellite(traveltime, X.col(i)); //armadillo
//--- Find DOA and range of satellites //--- Find DOA and range of satellites
double* azim = 0; double* azim = nullptr;
double* elev = 0; double* elev = nullptr;
double* dist = 0; double* dist = nullptr;
topocent(azim, elev, dist, pos.subvec(0, 2), Rot_X - pos.subvec(0, 2)); topocent(azim, elev, dist, pos.subvec(0, 2), Rot_X - pos.subvec(0, 2));
if (traveltime < 0.1 && nmbOfSatellites > 3) if (traveltime < 0.1 && nmbOfSatellites > 3)

12
src/algorithms/PVT/libs/nmea_printer.cc
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@ -48,7 +48,7 @@
using google::LogMessage; using google::LogMessage;
Nmea_Printer::Nmea_Printer(std::string filename, bool flag_nmea_output_file, bool flag_nmea_tty_port, std::string nmea_dump_devname, const std::string& base_path) Nmea_Printer::Nmea_Printer(const std::string& filename, bool flag_nmea_output_file, bool flag_nmea_tty_port, std::string nmea_dump_devname, const std::string& base_path)
{ {
nmea_base_path = base_path; nmea_base_path = base_path;
d_flag_nmea_output_file = flag_nmea_output_file; d_flag_nmea_output_file = flag_nmea_output_file;
@ -79,7 +79,7 @@ Nmea_Printer::Nmea_Printer(std::string filename, bool flag_nmea_output_file, boo
nmea_base_path = p.string(); nmea_base_path = p.string();
} }
if ((nmea_base_path.compare(".") != 0) and (d_flag_nmea_output_file == true)) if ((nmea_base_path != ".") and (d_flag_nmea_output_file == true))
{ {
std::cout << "NMEA files will be stored at " << nmea_base_path << std::endl; std::cout << "NMEA files will be stored at " << nmea_base_path << std::endl;
} }
@ -99,7 +99,7 @@ Nmea_Printer::Nmea_Printer(std::string filename, bool flag_nmea_output_file, boo
} }
} }
nmea_devname = nmea_dump_devname; nmea_devname = std::move(nmea_dump_devname);
if (flag_nmea_tty_port == true) if (flag_nmea_tty_port == true)
{ {
nmea_dev_descriptor = init_serial(nmea_devname.c_str()); nmea_dev_descriptor = init_serial(nmea_devname.c_str());
@ -126,20 +126,20 @@ Nmea_Printer::~Nmea_Printer()
} }
int Nmea_Printer::init_serial(std::string serial_device) int Nmea_Printer::init_serial(const std::string& serial_device)
{ {
/*! /*!
* Opens the serial device and sets the default baud rate for a NMEA transmission (9600,8,N,1) * Opens the serial device and sets the default baud rate for a NMEA transmission (9600,8,N,1)
*/ */
int fd = 0; int fd = 0;
struct termios options; struct termios options = {};
int64_t BAUD; int64_t BAUD;
int64_t DATABITS; int64_t DATABITS;
int64_t STOPBITS; int64_t STOPBITS;
int64_t PARITYON; int64_t PARITYON;
int64_t 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 (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 if (fcntl(fd, F_SETFL, 0) == -1) LOG(INFO) << "Error enabling direct I/O"; // clear all flags on descriptor, enable direct I/O

6
src/algorithms/PVT/libs/nmea_printer.h
View File

@ -53,12 +53,12 @@ public:
/*! /*!
* \brief Default constructor. * \brief Default constructor.
*/ */
Nmea_Printer(std::string filename, bool flag_nmea_output_file, bool flag_nmea_tty_port, std::string nmea_dump_filename, const std::string& base_path = "."); Nmea_Printer(const std::string& filename, bool flag_nmea_output_file, bool flag_nmea_tty_port, std::string nmea_dump_devname, const std::string& base_path = ".");
/*! /*!
* \brief Print NMEA PVT and satellite info to the initialized device * \brief Print NMEA PVT and satellite info to the initialized device
*/ */
bool Print_Nmea_Line(const std::shared_ptr<rtklib_solver>& position, bool print_average_values); bool Print_Nmea_Line(const std::shared_ptr<rtklib_solver>& pvt_data, bool print_average_values);
/*! /*!
* \brief Default destructor. * \brief Default destructor.
@ -72,7 +72,7 @@ private:
std::string nmea_devname; std::string nmea_devname;
int nmea_dev_descriptor; // NMEA serial device descriptor (i.e. COM port) int nmea_dev_descriptor; // NMEA serial device descriptor (i.e. COM port)
std::shared_ptr<rtklib_solver> d_PVT_data; std::shared_ptr<rtklib_solver> d_PVT_data;
int init_serial(std::string serial_device); //serial port control int init_serial(const std::string& serial_device); //serial port control
void close_serial(); void close_serial();
std::string get_GPGGA(); // fix data std::string get_GPGGA(); // fix data
std::string get_GPGSV(); // satellite data std::string get_GPGSV(); // satellite data

2
src/algorithms/PVT/libs/pvt_solution.cc
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@ -188,7 +188,7 @@ int Pvt_Solution::tropo(double *ddr_m, double sinel, double hsta_km, double p_mb
double b; double b;
double rtop; double rtop;
while (1) while (true)
{ {
rtop = pow((a_e + htop), 2) - pow((a_e + hsta_km), 2) * (1 - pow(sinel, 2)); rtop = pow((a_e + htop), 2) - pow((a_e + hsta_km), 2) * (1 - pow(sinel, 2));

516
src/algorithms/PVT/libs/rinex_printer.cc
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File diff suppressed because it is too large Load Diff

2
src/algorithms/PVT/libs/rtcm_printer.cc
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@ -77,7 +77,7 @@ Rtcm_Printer::Rtcm_Printer(std::string filename, bool flag_rtcm_file_dump, bool
{ {
rtcm_base_path = p.string(); rtcm_base_path = p.string();
} }
if (rtcm_base_path.compare(".") != 0) if (rtcm_base_path != ".")
{ {
std::cout << "RTCM binary file will be stored at " << rtcm_base_path << std::endl; std::cout << "RTCM binary file will be stored at " << rtcm_base_path << std::endl;
} }

18
src/algorithms/PVT/libs/rtklib_solver.cc
View File

@ -473,11 +473,11 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
case 'G': case 'G':
{ {
std::string sig_(gnss_observables_iter->second.Signal); std::string sig_(gnss_observables_iter->second.Signal);
if (sig_.compare("1C") == 0) if (sig_ == "1C")
{ {
band1 = true; band1 = true;
} }
if (sig_.compare("2S") == 0) if (sig_ == "2S")
{ {
band2 = true; band2 = true;
} }
@ -500,7 +500,7 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
{ {
std::string sig_(gnss_observables_iter->second.Signal); std::string sig_(gnss_observables_iter->second.Signal);
// Galileo E1 // Galileo E1
if (sig_.compare("1B") == 0) if (sig_ == "1B")
{ {
// 1 Gal - find the ephemeris for the current GALILEO SV observation. The SV PRN ID is the map key // 1 Gal - find the ephemeris for the current GALILEO SV observation. The SV PRN ID is the map key
galileo_ephemeris_iter = galileo_ephemeris_map.find(gnss_observables_iter->second.PRN); galileo_ephemeris_iter = galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
@ -523,7 +523,7 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
} }
// Galileo E5 // Galileo E5
if (sig_.compare("5X") == 0) if (sig_ == "5X")
{ {
// 1 Gal - find the ephemeris for the current GALILEO SV observation. The SV PRN ID is the map key // 1 Gal - find the ephemeris for the current GALILEO SV observation. The SV PRN ID is the map key
galileo_ephemeris_iter = galileo_ephemeris_map.find(gnss_observables_iter->second.PRN); galileo_ephemeris_iter = galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
@ -571,7 +571,7 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
// GPS L1 // GPS L1
// 1 GPS - find the ephemeris for the current GPS SV observation. The SV PRN ID is the map key // 1 GPS - find the ephemeris for the current GPS SV observation. The SV PRN ID is the map key
std::string sig_(gnss_observables_iter->second.Signal); std::string sig_(gnss_observables_iter->second.Signal);
if (sig_.compare("1C") == 0) if (sig_ == "1C")
{ {
gps_ephemeris_iter = gps_ephemeris_map.find(gnss_observables_iter->second.PRN); gps_ephemeris_iter = gps_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (gps_ephemeris_iter != gps_ephemeris_map.cend()) if (gps_ephemeris_iter != gps_ephemeris_map.cend())
@ -592,7 +592,7 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
} }
} }
// GPS L2 (todo: solve NAV/CNAV clash) // GPS L2 (todo: solve NAV/CNAV clash)
if ((sig_.compare("2S") == 0) and (gps_dual_band == false)) if ((sig_ == "2S") and (gps_dual_band == false))
{ {
gps_cnav_ephemeris_iter = gps_cnav_ephemeris_map.find(gnss_observables_iter->second.PRN); gps_cnav_ephemeris_iter = gps_cnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (gps_cnav_ephemeris_iter != gps_cnav_ephemeris_map.cend()) if (gps_cnav_ephemeris_iter != gps_cnav_ephemeris_map.cend())
@ -641,7 +641,7 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
} }
} }
// GPS L5 // GPS L5
if (sig_.compare("L5") == 0) if (sig_ == "L5")
{ {
gps_cnav_ephemeris_iter = gps_cnav_ephemeris_map.find(gnss_observables_iter->second.PRN); gps_cnav_ephemeris_iter = gps_cnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (gps_cnav_ephemeris_iter != gps_cnav_ephemeris_map.cend()) if (gps_cnav_ephemeris_iter != gps_cnav_ephemeris_map.cend())
@ -693,7 +693,7 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
{ {
std::string sig_(gnss_observables_iter->second.Signal); std::string sig_(gnss_observables_iter->second.Signal);
// GLONASS GNAV L1 // GLONASS GNAV L1
if (sig_.compare("1G") == 0) if (sig_ == "1G")
{ {
// 1 Glo - find the ephemeris for the current GLONASS SV observation. The SV Slot Number (PRN ID) is the map key // 1 Glo - find the ephemeris for the current GLONASS SV observation. The SV Slot Number (PRN ID) is the map key
glonass_gnav_ephemeris_iter = glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN); glonass_gnav_ephemeris_iter = glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
@ -715,7 +715,7 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
} }
} }
// GLONASS GNAV L2 // GLONASS GNAV L2
if (sig_.compare("2G") == 0) if (sig_ == "2G")
{ {
// 1 GLONASS - find the ephemeris for the current GLONASS SV observation. The SV PRN ID is the map key // 1 GLONASS - find the ephemeris for the current GLONASS SV observation. The SV PRN ID is the map key
glonass_gnav_ephemeris_iter = glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN); glonass_gnav_ephemeris_iter = glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN);