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Merged
rtklibexplorer merged 1 commit into from
Jul 6, 2025
Merged

Convert some larger stack allocations to heap allocations #659

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112 changes: 62 additions & 50 deletions app/consapp/rtkrcv/rtkrcv.c
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Original file line number Diff line number Diff line change
Expand Up @@ -641,7 +641,6 @@ static void prsolution(vt_t *vt, const sol_t *sol, const double *rb)
/* print status --------------------------------------------------------------*/
static void prstatus(vt_t *vt)
{
rtk_t rtk;
const char *svrstate[]={"stop","run"},*type[]={"rover","base","corr"};
const char *sol[]={"-","fix","float","SBAS","DGPS","single","PPP",""};
const char *mode[]={
Expand All @@ -660,8 +659,11 @@ static void prstatus(vt_t *vt)

trace(4,"prstatus:\n");

rtk_t *rtk = (rtk_t *)malloc(sizeof(rtk_t));
if (rtk == NULL) return;

rtksvrlock(&svr);
rtk=svr.rtk;
*rtk=svr.rtk;
thread=svr.thread;
cycle=svr.cycle;
state=svr.state;
Expand Down Expand Up @@ -691,10 +693,10 @@ static void prstatus(vt_t *vt)
rtksvrunlock(&svr);

for (i=n=0;i<MAXSAT;i++) {
if (rtk.opt.mode==PMODE_SINGLE&&!rtk.ssat[i].vs) continue;
if (rtk.opt.mode!=PMODE_SINGLE&&!rtk.ssat[i].vsat[0]) continue;
azel[ n*2]=rtk.ssat[i].azel[0];
azel[1+n*2]=rtk.ssat[i].azel[1];
if (rtk->opt.mode==PMODE_SINGLE&&!rtk->ssat[i].vs) continue;
if (rtk->opt.mode!=PMODE_SINGLE&&!rtk->ssat[i].vsat[0]) continue;
azel[ n*2]=rtk->ssat[i].azel[0];
azel[1+n*2]=rtk->ssat[i].azel[1];
n++;
}
dops(n,azel,0.0,dop);
Expand All @@ -704,8 +706,8 @@ static void prstatus(vt_t *vt)
vt_printf(vt,"%-28s: %lx\n","rtk server thread",(unsigned long)thread);
vt_printf(vt,"%-28s: %s\n","rtk server state",svrstate[state]);
vt_printf(vt,"%-28s: %d\n","processing cycle (ms)",cycle);
vt_printf(vt,"%-28s: %s\n","positioning mode",mode[rtk.opt.mode]);
vt_printf(vt,"%-28s: %s\n","frequencies",freq[rtk.opt.nf]);
vt_printf(vt,"%-28s: %s\n","positioning mode",mode[rtk->opt.mode]);
vt_printf(vt,"%-28s: %s\n","frequencies",freq[rtk->opt.nf]);
vt_printf(vt,"%-28s: %02.0f:%02.0f:%04.1f\n","accumulated time to run",rt[0],rt[1],rt[2]);
vt_printf(vt,"%-28s: %d\n","cpu time for a cycle (ms)",cputime);
vt_printf(vt,"%-28s: %d\n","missing obs data count",prcout);
Expand Down Expand Up @@ -735,75 +737,78 @@ static void prstatus(vt_t *vt)
vt_printf(vt,"%-15s %-9s: %s\n","# of rtcm messages",type[i],s);
}
vt_printf(vt,"%-28s: %s\n","solution status",sol[rtkstat]);
time2str(rtk.sol.time,tstr,9);
vt_printf(vt,"%-28s: %s\n","time of receiver clock rover",rtk.sol.time.time?tstr:"-");
vt_printf(vt,"%-28s: %.3f,%.3f,%.3f,%.3f\n","time sys offset (ns)",rtk.sol.dtr[1]*1e9,
rtk.sol.dtr[2]*1e9,rtk.sol.dtr[3]*1e9,rtk.sol.dtr[4]*1e9);
vt_printf(vt,"%-28s: %.3f\n","solution interval (s)",rtk.tt);
vt_printf(vt,"%-28s: %.3f\n","age of differential (s)",rtk.sol.age);
vt_printf(vt,"%-28s: %.3f\n","ratio for ar validation",rtk.sol.ratio);
time2str(rtk->sol.time,tstr,9);
vt_printf(vt,"%-28s: %s\n","time of receiver clock rover",rtk->sol.time.time?tstr:"-");
vt_printf(vt,"%-28s: %.3f,%.3f,%.3f,%.3f\n","time sys offset (ns)",rtk->sol.dtr[1]*1e9,
rtk->sol.dtr[2]*1e9,rtk->sol.dtr[3]*1e9,rtk->sol.dtr[4]*1e9);
vt_printf(vt,"%-28s: %.3f\n","solution interval (s)",rtk->tt);
vt_printf(vt,"%-28s: %.3f\n","age of differential (s)",rtk->sol.age);
vt_printf(vt,"%-28s: %.3f\n","ratio for ar validation",rtk->sol.ratio);
vt_printf(vt,"%-28s: %d\n","# of satellites rover",nsat0);
vt_printf(vt,"%-28s: %d\n","# of satellites base",nsat1);
vt_printf(vt,"%-28s: %d\n","# of valid satellites",rtk.sol.ns);
vt_printf(vt,"%-28s: %d\n","# of valid satellites",rtk->sol.ns);
vt_printf(vt,"%-28s: %.1f,%.1f,%.1f,%.1f\n","GDOP/PDOP/HDOP/VDOP",dop[0],dop[1],dop[2],dop[3]);
vt_printf(vt,"%-28s: %d\n","# of real estimated states",rtk.na);
vt_printf(vt,"%-28s: %d\n","# of all estimated states",rtk.nx);
vt_printf(vt,"%-28s: %d\n","# of real estimated states",rtk->na);
vt_printf(vt,"%-28s: %d\n","# of all estimated states",rtk->nx);
vt_printf(vt,"%-28s: %.3f,%.3f,%.3f\n","pos xyz single (m) rover",
rtk.sol.rr[0],rtk.sol.rr[1],rtk.sol.rr[2]);
if (norm(rtk.sol.rr,3)>0.0) ecef2pos(rtk.sol.rr,pos); else pos[0]=pos[1]=pos[2]=0.0;
rtk->sol.rr[0],rtk->sol.rr[1],rtk->sol.rr[2]);
if (norm(rtk->sol.rr,3)>0.0) ecef2pos(rtk->sol.rr,pos); else pos[0]=pos[1]=pos[2]=0.0;
vt_printf(vt,"%-28s: %.8f,%.8f,%.3f\n","pos llh single (deg,m) rover",
pos[0]*R2D,pos[1]*R2D,pos[2]);
ecef2enu(pos,rtk.sol.rr+3,vel);
ecef2enu(pos,rtk->sol.rr+3,vel);
vt_printf(vt,"%-28s: %.3f,%.3f,%.3f\n","vel enu (m/s) rover",vel[0],vel[1],vel[2]);
vt_printf(vt,"%-28s: %.3f,%.3f,%.3f\n","pos xyz float (m) rover",
rtk.x?rtk.x[0]:0,rtk.x?rtk.x[1]:0,rtk.x?rtk.x[2]:0);
rtk->x?rtk->x[0]:0,rtk->x?rtk->x[1]:0,rtk->x?rtk->x[2]:0);
vt_printf(vt,"%-28s: %.3f,%.3f,%.3f\n","pos xyz float std (m) rover",
rtk.P?SQRT(rtk.P[0]):0,rtk.P?SQRT(rtk.P[1+1*rtk.nx]):0,rtk.P?SQRT(rtk.P[2+2*rtk.nx]):0);
rtk->P?SQRT(rtk->P[0]):0,rtk->P?SQRT(rtk->P[1+1*rtk->nx]):0,rtk->P?SQRT(rtk->P[2+2*rtk->nx]):0);
vt_printf(vt,"%-28s: %.3f,%.3f,%.3f\n","pos xyz fixed (m) rover",
rtk.xa?rtk.xa[0]:0,rtk.xa?rtk.xa[1]:0,rtk.xa?rtk.xa[2]:0);
rtk->xa?rtk->xa[0]:0,rtk->xa?rtk->xa[1]:0,rtk->xa?rtk->xa[2]:0);
vt_printf(vt,"%-28s: %.3f,%.3f,%.3f\n","pos xyz fixed std (m) rover",
rtk.Pa?SQRT(rtk.Pa[0]):0,rtk.Pa?SQRT(rtk.Pa[1+1*rtk.na]):0,rtk.Pa?SQRT(rtk.Pa[2+2*rtk.na]):0);
rtk->Pa?SQRT(rtk->Pa[0]):0,rtk->Pa?SQRT(rtk->Pa[1+1*rtk->na]):0,rtk->Pa?SQRT(rtk->Pa[2+2*rtk->na]):0);
vt_printf(vt,"%-28s: %.3f,%.3f,%.3f\n","pos xyz (m) base",
rtk.rb[0],rtk.rb[1],rtk.rb[2]);
if (norm(rtk.rb,3)>0.0) ecef2pos(rtk.rb,pos); else pos[0]=pos[1]=pos[2]=0.0;
rtk->rb[0],rtk->rb[1],rtk->rb[2]);
if (norm(rtk->rb,3)>0.0) ecef2pos(rtk->rb,pos); else pos[0]=pos[1]=pos[2]=0.0;
vt_printf(vt,"%-28s: %.8f,%.8f,%.3f\n","pos llh (deg,m) base",
pos[0]*R2D,pos[1]*R2D,pos[2]);
vt_printf(vt,"%-28s: %d\n","# of average single pos base",nave);
vt_printf(vt,"%-28s: %s\n","ant type rover",rtk.opt.pcvr[0].type);
del=rtk.opt.antdel[0];
vt_printf(vt,"%-28s: %s\n","ant type rover",rtk->opt.pcvr[0].type);
del=rtk->opt.antdel[0];
vt_printf(vt,"%-28s: %.3f %.3f %.3f\n","ant delta rover",del[0],del[1],del[2]);
vt_printf(vt,"%-28s: %s\n","ant type base" ,rtk.opt.pcvr[1].type);
del=rtk.opt.antdel[1];
vt_printf(vt,"%-28s: %s\n","ant type base" ,rtk->opt.pcvr[1].type);
del=rtk->opt.antdel[1];
vt_printf(vt,"%-28s: %.3f %.3f %.3f\n","ant delta base",del[0],del[1],del[2]);
ecef2enu(pos,rtk.rb+3,vel);
ecef2enu(pos,rtk->rb+3,vel);
vt_printf(vt,"%-28s: %.3f,%.3f,%.3f\n","vel enu (m/s) base",
vel[0],vel[1],vel[2]);
if (rtk.opt.mode>0&&rtk.x&&norm(rtk.x,3)>0.0) {
for (i=0;i<3;i++) rr[i]=rtk.x[i]-rtk.rb[i];
if (rtk->opt.mode>0&&rtk->x&&norm(rtk->x,3)>0.0) {
for (i=0;i<3;i++) rr[i]=rtk->x[i]-rtk->rb[i];
bl1=norm(rr,3);
}
if (rtk.opt.mode>0&&rtk.xa&&norm(rtk.xa,3)>0.0) {
for (i=0;i<3;i++) rr[i]=rtk.xa[i]-rtk.rb[i];
if (rtk->opt.mode>0&&rtk->xa&&norm(rtk->xa,3)>0.0) {
for (i=0;i<3;i++) rr[i]=rtk->xa[i]-rtk->rb[i];
bl2=norm(rr,3);
}
vt_printf(vt,"%-28s: %.3f\n","baseline length float (m)",bl1);
vt_printf(vt,"%-28s: %.3f\n","baseline length fixed (m)",bl2);
vt_printf(vt,"%-28s: %s\n","last time mark",tmcount ? tmstr : "-");
vt_printf(vt,"%-28s: %d\n","receiver time mark count",rcvcount);
vt_printf(vt,"%-28s: %d\n","rtklib time mark count",tmcount);
free(rtk);
}
/* print satellite -----------------------------------------------------------*/
static void prsatellite(vt_t *vt, int nf)
{
rtk_t rtk;
double az,el;
char id[8];
int i,j,fix,frq[]={1,2,5,7,8,6};

trace(4,"prsatellite:\n");

rtk_t *rtk = (rtk_t *)malloc(sizeof(rtk_t));
if (rtk == NULL) return;

rtksvrlock(&svr);
rtk=svr.rtk;
*rtk=svr.rtk;
rtksvrunlock(&svr);
if (nf<=0||nf>NFREQ) nf=NFREQ;
vt_printf(vt,"\n%s%3s %2s %5s %4s",ESC_BOLD,"SAT","C1","Az","El");
Expand All @@ -817,34 +822,40 @@ static void prsatellite(vt_t *vt, int nf)
vt_printf(vt,"%s\n",ESC_RESET);

for (i=0;i<MAXSAT;i++) {
if (rtk.ssat[i].azel[1]<=0.0) continue;
if (rtk->ssat[i].azel[1]<=0.0) continue;
satno2id(i+1,id);
vt_printf(vt,"%3s %2s",id,rtk.ssat[i].vs?"OK":"-");
az=rtk.ssat[i].azel[0]*R2D; if (az<0.0) az+=360.0;
el=rtk.ssat[i].azel[1]*R2D;
vt_printf(vt,"%3s %2s",id,rtk->ssat[i].vs?"OK":"-");
az=rtk->ssat[i].azel[0]*R2D; if (az<0.0) az+=360.0;
el=rtk->ssat[i].azel[1]*R2D;
vt_printf(vt," %5.1f %4.1f",az,el);
for (j=0;j<nf;j++) vt_printf(vt," %2s",rtk.ssat[i].vsat[j]?"OK":"-");
for (j=0;j<nf;j++) vt_printf(vt," %2s",rtk->ssat[i].vsat[j]?"OK":"-");
for (j=0;j<nf;j++) {
fix=rtk.ssat[i].fix[j];
fix=rtk->ssat[i].fix[j];
vt_printf(vt," %5s",fix==1?"FLOAT":(fix==2?"FIX":(fix==3?"HOLD":"-")));
}
for (j=0;j<nf;j++) vt_printf(vt,"%7.3f",rtk.ssat[i].resp[j]);
for (j=0;j<nf;j++) vt_printf(vt,"%8.4f",rtk.ssat[i].resc[j]);
for (j=0;j<nf;j++) vt_printf(vt," %4d",rtk.ssat[i].slipc[j]);
for (j=0;j<nf;j++) vt_printf(vt," %6d",rtk.ssat[i].lock [j]);
for (j=0;j<nf;j++) vt_printf(vt," %3d",rtk.ssat[i].rejc [j]);
for (j=0;j<nf;j++) vt_printf(vt,"%7.3f",rtk->ssat[i].resp[j]);
for (j=0;j<nf;j++) vt_printf(vt,"%8.4f",rtk->ssat[i].resc[j]);
for (j=0;j<nf;j++) vt_printf(vt," %4d",rtk->ssat[i].slipc[j]);
for (j=0;j<nf;j++) vt_printf(vt," %6d",rtk->ssat[i].lock [j]);
for (j=0;j<nf;j++) vt_printf(vt," %3d",rtk->ssat[i].rejc [j]);
vt_printf(vt,"\n");
}
free(rtk);
}
/* print observation data ----------------------------------------------------*/
static void probserv(vt_t *vt, int nf)
{
obsd_t obs[MAXOBS*2];
char tstr[40],id[8];
int i,j,n=0,frq[]={1,2,5,7,8,6,9};

trace(4,"probserv:\n");

obsd_t *obs = (obsd_t *)calloc(MAXOBS * 2, sizeof(obsd_t));
if (obs == NULL) {
trace(1, "probserv obsd_t alloc failed\n");
return;
}

rtksvrlock(&svr);
for (i=0;i<svr.obs[0][0].n&&n<MAXOBS*2;i++) {
obs[n++]=svr.obs[0][0].data[i];
Expand Down Expand Up @@ -872,6 +883,7 @@ static void probserv(vt_t *vt, int nf)
for (j=0;j<nf;j++) vt_printf(vt,"%2d" ,obs[i].LLI[j]);
vt_printf(vt,"\n");
}
free(obs);
}
/* print navigation data -----------------------------------------------------*/
static void prnavidata(vt_t *vt)
Expand Down
30 changes: 21 additions & 9 deletions app/qtapp/appcmn_qt/glofcndlg.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -29,23 +29,35 @@ GloFcnDialog::GloFcnDialog(QWidget* parent) : QDialog(parent), ui(new Ui::GloFcn
//---------------------------------------------------------------------------
void GloFcnDialog::readRinex()
{
QString filename;
nav_t nav;
int prn;
QString filename = QFileDialog::getOpenFileName(this, tr("Open RINEX file"), "", tr("Rinex (*.obs *.*O);;All (*.*)"));

if (filename.isEmpty()) return;

nav_t *nav = static_cast<nav_t *>(calloc(1, sizeof(nav_t)));
if (nav == NULL) {
trace(1, "GloFcnDialog::readRinex nav alloc failed\n");
return;
}


memset(&nav, 0, sizeof(nav_t));

filename = QFileDialog::getOpenFileName(this, tr("Open RINEX file"), "", tr("Rinex (*.obs *.*O);;All (*.*)"));

if (filename.isEmpty()) return;

if (!readrnx(qPrintable(filename), 0, "", NULL, &nav, NULL)) return;

for (int i = 0; i < nav.ng; i++) {
if (satsys(nav.geph[i].sat, &prn) != SYS_GLO) continue;
getFcn(prn)->setValue(nav.geph[i].frq);
if (!readrnx(qPrintable(filename), 0, "", NULL, nav, NULL)) {
free(nav);
return;
}

for (int i = 0; i < nav->ng; i++) {
int prn;
if (satsys(nav->geph[i].sat, &prn) != SYS_GLO) continue;
getFcn(prn)->setValue(nav->geph[i].frq);
}
freenav(&nav, 0xFF);
freenav(nav, 0xFF);
free(nav);
}
//---------------------------------------------------------------------------
void GloFcnDialog::clearFrequencies()
Expand Down
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