[hamradio-commits] [gnss-sdr] 114/126: const correctness
Carles Fernandez
carles_fernandez-guest at moszumanska.debian.org
Sat Dec 26 18:38:07 UTC 2015
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carles_fernandez-guest pushed a commit to branch next
in repository gnss-sdr.
commit dd22536c9bf1445097583097a0cfa82b61ff0a18
Author: Carles Fernandez <carles.fernandez at gmail.com>
Date: Wed Dec 23 18:29:38 2015 +0100
const correctness
marking as const the member functions that do not modify member
parameters. Two warnings of unused variables removed.
---
src/core/system_parameters/rtcm.cc | 55 +++++++++++++++-----------------------
src/core/system_parameters/rtcm.h | 46 +++++++++++++------------------
2 files changed, 41 insertions(+), 60 deletions(-)
diff --git a/src/core/system_parameters/rtcm.cc b/src/core/system_parameters/rtcm.cc
index f92125d..b05c3f2 100644
--- a/src/core/system_parameters/rtcm.cc
+++ b/src/core/system_parameters/rtcm.cc
@@ -36,6 +36,7 @@
#include <sstream> // for std::stringstream
#include <thread>
#include <boost/algorithm/string.hpp> // for to_upper_copy
+#include <boost/crc.hpp>
#include <boost/dynamic_bitset.hpp>
#include <gflags/gflags.h>
#include <glog/logging.h>
@@ -47,9 +48,6 @@ DEFINE_int32(RTCM_Port, 2101 , "TCP port of the RTCM message server");
// 2101 is the standard RTCM port according to the Internet Assigned Numbers Authority (IANA)
// https://www.iana.org/assignments/service-names-port-numbers/service-names-port-numbers.xml
-DEFINE_string(Remote_RTCM_Server, "localhost", "Remote RTCM server address");
-DEFINE_int32(Remote_RTCM_Port, 2101 , "Remote TCP port of the RTCM message server");
-
Rtcm::Rtcm()
{
@@ -71,7 +69,7 @@ Rtcm::~Rtcm()
// *****************************************************************************************************
//
-// TCP Server / Client helper classes
+// TCP Server helper classes
//
// *****************************************************************************************************
void Rtcm::run_server()
@@ -116,7 +114,7 @@ void Rtcm::send_message(const std::string & msg)
}
-bool Rtcm::is_server_running()
+bool Rtcm::is_server_running() const
{
return server_is_running;
}
@@ -128,10 +126,10 @@ bool Rtcm::is_server_running()
//
// *****************************************************************************************************
-std::string Rtcm::add_CRC (const std::string& message_without_crc)
+std::string Rtcm::add_CRC (const std::string & message_without_crc) const
{
// ****** Computes Qualcomm CRC-24Q ******
- crc_24_q_type CRC_RTCM;
+ boost::crc_optimal<24, 0x1864CFBu, 0x0, 0x0, false, false> CRC_RTCM;
// 1) Converts the string to a vector of unsigned char:
boost::dynamic_bitset<unsigned char> frame_bits(message_without_crc);
std::vector<unsigned char> bytes;
@@ -140,7 +138,7 @@ std::string Rtcm::add_CRC (const std::string& message_without_crc)
// 2) Computes CRC
CRC_RTCM.process_bytes(bytes.data(), bytes.size());
- crc_frame = std::bitset<24>(CRC_RTCM.checksum());
+ std::bitset<24> crc_frame = std::bitset<24>(CRC_RTCM.checksum());
// 3) Builds the complete message
std::string complete_message = message_without_crc + crc_frame.to_string();
@@ -148,9 +146,9 @@ std::string Rtcm::add_CRC (const std::string& message_without_crc)
}
-bool Rtcm::check_CRC(const std::string & message)
+bool Rtcm::check_CRC(const std::string & message) const
{
- crc_24_q_type CRC_RTCM_CHECK;
+ boost::crc_optimal<24, 0x1864CFBu, 0x0, 0x0, false, false> CRC_RTCM_CHECK;
// Convert message to binary
std::string message_bin = Rtcm::hex_to_bin(message);
// Check CRC
@@ -176,7 +174,7 @@ bool Rtcm::check_CRC(const std::string & message)
}
-std::string Rtcm::bin_to_hex(const std::string& s)
+std::string Rtcm::bin_to_hex(const std::string& s) const
{
std::string s_aux;
std::stringstream ss;
@@ -202,7 +200,7 @@ std::string Rtcm::bin_to_hex(const std::string& s)
}
-std::string Rtcm::hex_to_bin(const std::string& s)
+std::string Rtcm::hex_to_bin(const std::string& s) const
{
std::string s_aux;
s_aux.clear();
@@ -220,7 +218,7 @@ std::string Rtcm::hex_to_bin(const std::string& s)
}
-unsigned long int Rtcm::bin_to_uint(const std::string& s)
+unsigned long int Rtcm::bin_to_uint(const std::string& s) const
{
if(s.length() > 32)
{
@@ -232,7 +230,7 @@ unsigned long int Rtcm::bin_to_uint(const std::string& s)
}
-long int Rtcm::bin_to_int(const std::string& s)
+long int Rtcm::bin_to_int(const std::string& s) const
{
if(s.length() > 32)
{
@@ -257,7 +255,7 @@ long int Rtcm::bin_to_int(const std::string& s)
}
-double Rtcm::bin_to_double(const std::string& s)
+double Rtcm::bin_to_double(const std::string& s) const
{
double reading;
if(s.length() > 64)
@@ -288,7 +286,7 @@ double Rtcm::bin_to_double(const std::string& s)
}
-unsigned long int Rtcm::hex_to_uint(const std::string& s)
+unsigned long int Rtcm::hex_to_uint(const std::string& s) const
{
if(s.length() > 32)
{
@@ -300,7 +298,7 @@ unsigned long int Rtcm::hex_to_uint(const std::string& s)
}
-long int Rtcm::hex_to_int(const std::string& s)
+long int Rtcm::hex_to_int(const std::string& s) const
{
if(s.length() > 32)
{
@@ -312,11 +310,11 @@ long int Rtcm::hex_to_int(const std::string& s)
}
-std::string Rtcm::build_message(std::string data)
+std::string Rtcm::build_message(const std::string & data) const
{
unsigned int msg_length_bits = data.length();
unsigned int msg_length_bytes = std::ceil(static_cast<float>(msg_length_bits) / 8.0);
- message_length = std::bitset<10>(msg_length_bytes);
+ std::bitset<10> message_length = std::bitset<10>(msg_length_bytes);
unsigned int zeros_to_fill = 8 * msg_length_bytes - msg_length_bits;
std::string b(zeros_to_fill, '0');
std::string msg_content = data + b;
@@ -1449,7 +1447,6 @@ std::string Rtcm::print_MSM_1( const Gps_Ephemeris & gps_eph,
clock_steering_indicator,
external_clock_indicator,
smooth_int,
- sync_flag,
divergence_free,
more_messages);
@@ -1471,7 +1468,6 @@ std::string Rtcm::get_MSM_header(unsigned int msg_number, const Gps_Ephemeris &
unsigned int clock_steering_indicator,
unsigned int external_clock_indicator,
int smooth_int,
- bool sync_flag,
bool divergence_free,
bool more_messages)
{
@@ -1632,7 +1628,6 @@ std::string Rtcm::print_MSM_2( const Gps_Ephemeris & gps_eph,
clock_steering_indicator,
external_clock_indicator,
smooth_int,
- sync_flag,
divergence_free,
more_messages);
@@ -1725,7 +1720,6 @@ std::string Rtcm::print_MSM_3( const Gps_Ephemeris & gps_eph,
clock_steering_indicator,
external_clock_indicator,
smooth_int,
- sync_flag,
divergence_free,
more_messages);
@@ -1820,7 +1814,6 @@ std::string Rtcm::print_MSM_4( const Gps_Ephemeris & gps_eph,
clock_steering_indicator,
external_clock_indicator,
smooth_int,
- sync_flag,
divergence_free,
more_messages);
@@ -1958,7 +1951,6 @@ std::string Rtcm::print_MSM_5( const Gps_Ephemeris & gps_eph,
clock_steering_indicator,
external_clock_indicator,
smooth_int,
- sync_flag,
divergence_free,
more_messages);
@@ -2106,7 +2098,6 @@ std::string Rtcm::print_MSM_6( const Gps_Ephemeris & gps_eph,
clock_steering_indicator,
external_clock_indicator,
smooth_int,
- sync_flag,
divergence_free,
more_messages);
@@ -2205,7 +2196,6 @@ std::string Rtcm::print_MSM_7( const Gps_Ephemeris & gps_eph,
clock_steering_indicator,
external_clock_indicator,
smooth_int,
- sync_flag,
divergence_free,
more_messages);
@@ -2270,7 +2260,7 @@ std::string Rtcm::get_MSM_7_content_signal_data(const Gps_Ephemeris & ephNAV, co
// Some utilities
// *****************************************************************************************************
-std::vector<std::pair<int, Gnss_Synchro> > Rtcm::sort_by_PRN_mask(const std::vector<std::pair<int, Gnss_Synchro> > & synchro_map)
+std::vector<std::pair<int, Gnss_Synchro> > Rtcm::sort_by_PRN_mask(const std::vector<std::pair<int, Gnss_Synchro> > & synchro_map) const
{
std::vector<std::pair<int, Gnss_Synchro> >::const_iterator synchro_map_iter;
std::vector<std::pair<int, Gnss_Synchro> > my_vec;
@@ -2298,7 +2288,7 @@ std::vector<std::pair<int, Gnss_Synchro> > Rtcm::sort_by_PRN_mask(const std::vec
}
-std::vector<std::pair<int, Gnss_Synchro> > Rtcm::sort_by_signal(const std::vector<std::pair<int, Gnss_Synchro> > & synchro_map)
+std::vector<std::pair<int, Gnss_Synchro> > Rtcm::sort_by_signal(const std::vector<std::pair<int, Gnss_Synchro> > & synchro_map) const
{
std::vector<std::pair<int, Gnss_Synchro> >::const_iterator synchro_map_iter;
std::vector<std::pair<int, Gnss_Synchro> > my_vec;
@@ -2401,7 +2391,7 @@ std::map<std::string, int> Rtcm::galileo_signal_map = []
}();
-boost::posix_time::ptime Rtcm::compute_GPS_time(const Gps_Ephemeris & eph, double obs_time)
+boost::posix_time::ptime Rtcm::compute_GPS_time(const Gps_Ephemeris & eph, double obs_time) const
{
const double gps_t = obs_time;
boost::posix_time::time_duration t = boost::posix_time::millisec((gps_t + 604800 * static_cast<double>(eph.i_GPS_week % 1024)) * 1000);
@@ -2410,7 +2400,7 @@ boost::posix_time::ptime Rtcm::compute_GPS_time(const Gps_Ephemeris & eph, doubl
}
-boost::posix_time::ptime Rtcm::compute_GPS_time(const Gps_CNAV_Ephemeris & eph, double obs_time)
+boost::posix_time::ptime Rtcm::compute_GPS_time(const Gps_CNAV_Ephemeris & eph, double obs_time) const
{
const double gps_t = obs_time;
boost::posix_time::time_duration t = boost::posix_time::millisec((gps_t + 604800 * static_cast<double>(eph.i_GPS_week % 1024)) * 1000);
@@ -2419,7 +2409,7 @@ boost::posix_time::ptime Rtcm::compute_GPS_time(const Gps_CNAV_Ephemeris & eph,
}
-boost::posix_time::ptime Rtcm::compute_Galileo_time(const Galileo_Ephemeris & eph, double obs_time)
+boost::posix_time::ptime Rtcm::compute_Galileo_time(const Galileo_Ephemeris & eph, double obs_time) const
{
double galileo_t = obs_time;
boost::posix_time::time_duration t = boost::posix_time::millisec((galileo_t + 604800 * static_cast<double>(eph.WN_5)) * 1000);
@@ -4083,7 +4073,6 @@ int Rtcm::set_DF417(bool using_divergence_free_smoothing)
int Rtcm::set_DF418(int carrier_smoothing_interval_s)
{
- unsigned int smoothing_int = abs(carrier_smoothing_interval_s);
if(carrier_smoothing_interval_s < 0)
{
DF418 = std::bitset<3>("111");
diff --git a/src/core/system_parameters/rtcm.h b/src/core/system_parameters/rtcm.h
index 93a5e22..2ea9f70 100644
--- a/src/core/system_parameters/rtcm.h
+++ b/src/core/system_parameters/rtcm.h
@@ -43,7 +43,6 @@
#include <utility>
#include <vector>
#include <boost/asio.hpp>
-#include <boost/crc.hpp>
#include <boost/date_time/posix_time/posix_time.hpp>
#include "concurrent_queue.h"
#include "gnss_synchro.h"
@@ -122,6 +121,8 @@ public:
*/
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);
+ std::string print_MT1005_test(); //<! For testing purposes
+
/*!
* \brief Prints message type 1008 (Antenna Descriptor & Serial Number)
*/
@@ -264,28 +265,23 @@ public:
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.
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.
- std::string bin_to_hex(const std::string& s); //<! Returns a string of hexadecimal symbols from a string of binary symbols
- std::string hex_to_bin(const std::string& s); //<! Returns a string of binary symbols from a string of hexadecimal symbols
-
- unsigned long int bin_to_uint(const std::string& s); //<! Returns an unsigned long int from a string of binary symbols
- long int bin_to_int(const std::string& s); //<! Returns a long int from a string of binary symbols
+ std::string bin_to_hex(const std::string & s) const; //<! Returns a string of hexadecimal symbols from a string of binary symbols
+ std::string hex_to_bin(const std::string & s) const; //<! Returns a string of binary symbols from a string of hexadecimal symbols
- unsigned long int hex_to_uint(const std::string& s); //<! Returns an unsigned long int from a string of hexadecimal symbols
- long int hex_to_int(const std::string& s); //<! Returns a long int from a string of hexadecimal symbols
+ unsigned long int bin_to_uint(const std::string & s) const; //<! Returns an unsigned long int from a string of binary symbols
+ long int bin_to_int(const std::string & s) const; //<! Returns a long int from a string of binary symbols
+ double bin_to_double(const std::string & s) const; //<! Returns double from a string of binary symbols
- double bin_to_double(const std::string& s); //<! Returns double from a string of binary symbols
- std::string print_MT1005_test(); //<! For testing purposes
+ unsigned long int hex_to_uint(const std::string & s) const; //<! Returns an unsigned long int from a string of hexadecimal symbols
+ long int hex_to_int(const std::string & s) const; //<! Returns a long int from a string of hexadecimal symbols
- bool check_CRC(const std::string & message); //<! Checks that the CRC of a RTCM package is correct
+ bool check_CRC(const std::string & message) const; //<! Checks that the CRC of a RTCM package is correct
void run_server(); //<! Starts running the server
void stop_server(); //<! Stops the server
- void run_client(); //<! Starts running the client
- void stop_client(); //<! Stops the client
-
- void send_message(const std::string & message); //<! Sends a message through the server
- bool is_server_running(); //<! Returns true if the server is running, false otherwise
+ void send_message(const std::string & message); //<! Sends a message through the server to all connected clients
+ bool is_server_running() const; //<! Returns true if the server is running, false otherwise
private:
//
@@ -316,7 +312,6 @@ private:
unsigned int clock_steering_indicator,
unsigned int external_clock_indicator,
int smooth_int,
- bool sync_flag,
bool divergence_free,
bool more_messages);
@@ -337,11 +332,11 @@ private:
//
static std::map<std::string, int> galileo_signal_map;
static std::map<std::string, int> gps_signal_map;
- std::vector<std::pair<int, Gnss_Synchro> > sort_by_signal(const std::vector<std::pair<int, Gnss_Synchro> > & synchro_map);
- std::vector<std::pair<int, Gnss_Synchro> > sort_by_PRN_mask(const std::vector<std::pair<int, Gnss_Synchro> > & synchro_map);
- boost::posix_time::ptime compute_GPS_time(const Gps_Ephemeris& eph, double obs_time);
- boost::posix_time::ptime compute_GPS_time(const Gps_CNAV_Ephemeris & eph, double obs_time);
- boost::posix_time::ptime compute_Galileo_time(const Galileo_Ephemeris& eph, double obs_time);
+ std::vector<std::pair<int, Gnss_Synchro> > sort_by_signal(const std::vector<std::pair<int, Gnss_Synchro> > & synchro_map) const;
+ std::vector<std::pair<int, Gnss_Synchro> > sort_by_PRN_mask(const std::vector<std::pair<int, 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;
boost::posix_time::ptime gps_L1_last_lock_time[64];
boost::posix_time::ptime gps_L2_last_lock_time[64];
boost::posix_time::ptime gal_E1_last_lock_time[64];
@@ -768,11 +763,8 @@ private:
//
std::bitset<8> preamble;
std::bitset<6> reserved_field;
- std::bitset<10> message_length;
- 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
--
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