open source publish 87b9931..5c3e738 (#231)

Author: Jason Mobarak

.clang-tidy

@@ -1,7 +1,42 @@
-# See: http://releases.llvm.org/6.0.1/tools/clang/tools/extra/docs/clang-tidy/checks/list.html
+# See: http://clang.llvm.org/extra/clang-tidy/
+#  clang-tidy-4.0 src/pvt_engine/*.cc -- -std=c++14 -Irefactor/common/ -Irefactor/common/libswiftnav -Iinclude/ -Iinclude/libswiftnav/ -isystem -third_party/ -isystem./libfec/include/ -Ithird_party/Optional -isystem./third_party/json/src/ -isystem./third_party/eigen/
+#
+# TODO (mookerji: Disabled are clang-analyzer-alpha.*, since these seem to check
+# non-project code. Fix when resolved in LLVM.
+#
+# TODO (nsirola: Disabled a bunch of checks on updating to clang-4.0, to be 
+#       re-enabled and checked individually:
+#       -modernize-deprecated-headers (new in 3.9)
+#       -modernize-use-default-member-init (new in 4.0)
+#       -modernize-redundant-void-arg (since 3.8, for some reason did not warn before)
+#       -modernize-use-using (new in 3.9)
+#       -modernize-use-equals-delete (new in 4.0)
+#       -modernize-use-equals-default (new in 4.0)
+#       -modernize-use-bool-literals (new in 3.9)
+#       -modernize-use-auto (extended in 4.0)
+#       -modernize-use-emplace (new in 3.9)
+#       -cppcoreguidelines-special-member-functions (new in 4.0)
+#       -cppcoreguidelines-pro-type-member-init (new in 3.9)
+#       -readability-avoid-const-params-in-decls (new in 3.9)
+#       -readability-non-const-parameter (new in 4.0)
+#       -readability-redundant-member-init (new in 4.0)
+#       -readability-redundant-declaration (new in 4.0)
+#       -cert-err34-c (new in 3.9)
+#       -cert-err58-cpp (since 3.8, for some reason did not warn before)
+#       -performance-unnecessary-value-param (new in 3.9)
+#       -google-runtime-references (new in 4.0)
+#       -clang-analyzer-optin.cplusplus.VirtualCall (new in 4.0)
+#       -clang-analyzer-core.CallAndMessage (not mentioned in release notes)
+#       -clang-analyzer-core.UndefinedBinaryOperatorResult (not mentioned in release notes)
+#       -clang-analyzer-core.uninitialized.Assign (not mentioned in release notes)
+#
+# TODO jbangelo: Disabled several more check on updating to clang-6.0, really should re-enable and fix
+#       -cppcoreguidelines-owning-memory
+#       -cert-dcl21-cpp
+#       -modernize-return-braced-init-list
+
+Checks: "-*,cert-*,google-*,misc-*,readability-*,clang-analyzer-*,modernize-*,performance-*,-clang-analyzer-alpha*,cppcoreguidelines-*,cert-*,-cppcoreguidelines-pro-bounds-constant-array-index,-cppcoreguidelines-pro-bounds-array-to-pointer-decay,-cppcoreguidelines-pro-bounds-pointer-arithmetic,-cppcoreguidelines-pro-type-vararg,-modernize-pass-by-value,-modernize-deprecated-headers,-modernize-use-default-member-init,-modernize-redundant-void-arg,-modernize-use-using,-modernize-use-equals-delete,-modernize-use-equals-default,-modernize-use-bool-literals,-modernize-use-auto,-modernize-use-emplace,-cppcoreguidelines-special-member-functions,-cppcoreguidelines-pro-type-member-init,-readability-avoid-const-params-in-decls,-readability-non-const-parameter,-readability-redundant-member-init,-readability-redundant-declaration,-cert-err34-c,-cert-err58-cpp,-performance-unnecessary-value-param,-google-runtime-references,-clang-analyzer-optin.cplusplus.VirtualCall,-clang-analyzer-core.CallAndMessage,-clang-analyzer-core.UndefinedBinaryOperatorResult,-clang-analyzer-core.uninitialized.Assign,-cppcoreguidelines-owning-memory,-clang-analyzer-core.uninitialized.UndefReturn,-cert-dcl21-cpp,-modernize-return-braced-init-list,-cert-dcl03-c,-misc-static-assert"
+HeaderFilterRegex: '.*'
+AnalyzeTemporaryDtors: true
+...
 
-Checks: "*,
-         -cert-dcl03-c,-misc-static-assert,-hicpp-static-assert,
-         -hicpp-signed-bitwise,
-         -bugprone-integer-division,
-         -llvm-header-guard"

.gitignore

@@ -1,6 +1,6 @@
-build
+build*
 include/swiftnav/config.h
-/fixes.yaml
+*.swp
 
 # IDE files
 .vscode/

CMakeLists.txt

@@ -10,9 +10,11 @@ include(GNUInstallDirs)
 include(CCache)
 include(SwiftCmakeOptions)
 include(TestTargets)
+include(LanguageStandards)
+include(CompileOptions)
 
 set(disable_tests FALSE)
-if(MSVC)
+if(WIN32)
   message(STATUS "MSVC detected, skipping unit tests")
   set(disable_tests TRUE)
 endif()
@@ -91,41 +93,30 @@ set(SRCS
     src/troposphere.c)
 
 add_library(swiftnav ${HDRS} ${SRCS})
+swift_set_language_standards(swiftnav)
+swift_set_compile_options(swiftnav REMOVE -Wconversion -Wstack-protector)
+
 target_code_coverage(swiftnav AUTO ALL)
 target_include_directories(swiftnav PUBLIC ${PROJECT_SOURCE_DIR}/include)
 target_include_directories(swiftnav PRIVATE ${CMAKE_CURRENT_BINARY_DIR})
 if(LIBSWIFTNAV_ENABLE_STDERR_LOGGING)
   target_compile_definitions(swiftnav PRIVATE "LIBSWIFTNAV_ENABLE_STDERR_LOGGING")
 endif()
-install(FILES ${HDRS} DESTINATION ${CMAKE_INSTALL_FULL_INCLUDEDIR}/swiftnav)
-install(TARGETS swiftnav DESTINATION ${CMAKE_INSTALL_FULL_LIBDIR})
 
-set_property(TARGET swiftnav PROPERTY C_STANDARD 99)
+target_compile_options(swiftnav PRIVATE "-UNDEBUG")
+
+target_code_coverage(swiftnav AUTO ALL)
+target_include_directories(swiftnav PUBLIC ${PROJECT_SOURCE_DIR}/include)
+target_include_directories(swiftnav PRIVATE ${CMAKE_CURRENT_BINARY_DIR})
 
 if (MSVC)
 else ()
-    target_link_libraries(swiftnav PRIVATE m)
-    target_compile_options(swiftnav PRIVATE "-Werror")
-    target_compile_options(swiftnav PRIVATE "-Wmissing-prototypes")
-    target_compile_options(swiftnav PRIVATE "-Wimplicit")
-    target_compile_options(swiftnav PRIVATE "-Wshadow")
-    target_compile_options(swiftnav PRIVATE "-Wswitch-default")
-    target_compile_options(swiftnav PRIVATE "-Wswitch-enum")
-    target_compile_options(swiftnav PRIVATE "-Wundef")
-    target_compile_options(swiftnav PRIVATE "-Wuninitialized")
-    target_compile_options(swiftnav PRIVATE "-Wpointer-arith")
-    target_compile_options(swiftnav PRIVATE "-Wstrict-prototypes")
-    target_compile_options(swiftnav PRIVATE "-Wcast-align")
-    target_compile_options(swiftnav PRIVATE "-Wformat=2")
-    target_compile_options(swiftnav PRIVATE "-Wimplicit-function-declaration")
-    target_compile_options(swiftnav PRIVATE "-Wredundant-decls")
-    target_compile_options(swiftnav PRIVATE "-Wformat-security")
-    # require at least gcc 5.0
-    if (NOT "${CMAKE_CXX_COMPILER_ID}" STREQUAL "GNU" OR CMAKE_C_COMPILER_VERSION VERSION_GREATER 5.0)
-        target_compile_options(swiftnav PRIVATE "-Wfloat-conversion")
-    endif()
+  target_link_libraries(swiftnav PRIVATE m)
 endif()
 
+install(FILES ${HDRS} DESTINATION ${CMAKE_INSTALL_FULL_INCLUDEDIR}/swiftnav)
+install(TARGETS swiftnav DESTINATION ${CMAKE_INSTALL_FULL_LIBDIR})
+
 # unit tests
 if(libswiftnav_BUILD_TESTS OR libswiftnav_BUILD_TEST_LIBS)
   add_subdirectory(tests)

cmake/common

@@ -36,7 +36,7 @@ extern "C" {
  * \return 32-bit signed integer with 2-complement of \a n_bits in \a arg
  */
 #define BITS_SIGN_EXTEND_32(n_bits, arg) \
-  ((struct { s32 bits : n_bits; }){.bits = (arg)}.bits)
+  ((struct { s32 bits : (n_bits); }){.bits = (arg)}.bits)
 /**
  * Sign extension macro for 64-bit integers.
  *
@@ -46,7 +46,7 @@ extern "C" {
  * \return 64-bit signed integer with 2-complement of \a n_bits in \a arg
  */
 #define BITS_SIGN_EXTEND_64(n_bits, arg) \
-  ((struct { s64 bits : n_bits; }){.bits = (arg)}.bits)
+  ((struct { s64 bits : (n_bits); }){.bits = (arg)}.bits)
 
 u8 parity(u32 x);
 u16 bytes_interleave(const u8 x, const u8 y);

include/swiftnav/bits.h

@@ -74,7 +74,7 @@ extern "C" {
 #define CLAMP_DIFF(a, b) (MAX((a), (b)) - (b))
 #define ARRAY_SIZE(a) (sizeof(a) / sizeof((a)[0]))
 #define ARRAY_SIZE2(a) (sizeof(a) / sizeof((a)[0][0]))
-#define SIGN(a) ((a >= 0) ? +1 : -1)
+#define SIGN(a) (((a) >= 0) ? +1 : -1)
 
 /* See http://c-faq.com/cpp/multistmt.html for
  * and explaination of the do {} while(0)

include/swiftnav/common.h

@@ -22,9 +22,9 @@
 extern "C" {
 #endif
 
-#define INVALID_GPS_URA_INDEX -1
+#define INVALID_GPS_URA_INDEX (-1)
 #define MAX_ALLOWED_GPS_URA_IDX 15
-#define INVALID_URA_VALUE -1.0f
+#define INVALID_URA_VALUE (-1.0f)
 #define INVALID_GAL_SISA_INDEX 0xFF
 #define URA_VALID(x) ((x) >= 0)
 

include/swiftnav/ephemeris.h

@@ -0,0 +1,17 @@
+#ifndef SWIFTNAV_FLOAT_EQUALITY_H
+#define SWIFTNAV_FLOAT_EQUALITY_H
+
+#include <math.h>
+#include <stdbool.h>
+
+#include <swiftnav/constants.h>
+
+static inline bool double_equal(double a, double b) {
+  return fabs(a - b) < FLOAT_EQUALITY_EPS;
+}
+
+static inline bool float_equal(float a, float b) {
+  return double_equal((double)a, (double)b);
+}
+
+#endif

include/swiftnav/float_equality.h

@@ -1,9 +1,14 @@
-/*------------------------------------------------------------------------------
- * Reproduced from https://github.com/swift-nav/RTKLIB/blob/master/src/geoid.c
- * according to the RTKLib licence
+/*
+ * Copyright (C) 2020 Swift Navigation Inc.
+ * Contact: Swift Navigation <dev@swiftnav.com>
  *
- *          Copyright (C) 2007-2013 by T.TAKASU, All rights reserved.
- *-----------------------------------------------------------------------------*/
+ * This source is subject to the license found in the file 'LICENSE' which must
+ * be distributed together with this source. All other rights reserved.
+ *
+ * THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND,
+ * EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE.
+ */
 
 #ifndef GEOID_MODEL_H
 #define GEOID_MODEL_H
@@ -14,17 +19,8 @@
 extern "C" {
 #endif /* __cplusplus */
 
-#define MIN_LON 0
-#define MAX_LON 360
-#define MIN_LAT (-90)
-#define MAX_LAT 90
-
-#define LAT_GRID_SPACING_DEG 1
-#define LON_GRID_SPACING_DEG 1
-
-extern const float GEOID[(MAX_LON - MIN_LON) / LON_GRID_SPACING_DEG + 1]
-                        [(MAX_LAT - MIN_LAT) / LAT_GRID_SPACING_DEG + 1];
-
+// range for lat_rad is (-M_PI_2, M_PI_2)
+// range for lon_rad is (-2 * M_PI, 2 * M_PI)
 float get_geoid_offset(double lat_rad, double lon_rad);
 
 #ifdef __cplusplus

include/swiftnav/geoid_model.h

@@ -110,10 +110,10 @@ extern "C" {
 #define MJD_JAN_6_1980 44244
 
 /** Modified Julian days of 1601-01-01 */
-#define MJD_JAN_1_1601 -94187
+#define MJD_JAN_1_1601 (-94187)
 
-#define WN_UNKNOWN -1
-#define TOW_UNKNOWN -1
+#define WN_UNKNOWN (-1)
+#define TOW_UNKNOWN (-1)
 
 /** GLONASS minimum day number */
 #define GLO_NT_0_FLOOR 1