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rtknavi_qt: allocate the rtksvr structure off the stack #468

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Merged
merged 1 commit into from
Sep 22, 2024
Merged

rtknavi_qt: allocate the rtksvr structure off the stack #468

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87 changes: 45 additions & 42 deletions app/qtapp/rtknavi_qt/navimain.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -172,7 +172,9 @@ MainWindow::MainWindow(QWidget *parent)
{ "", 0, NULL, "" }
};

rtksvrinit(&rtksvr);
rtksvr = (rtksvr_t *)malloc(sizeof(rtksvr_t));
if (rtksvr == NULL) std::exit(1);
rtksvrinit(rtksvr);
strinit(&monistr);

setWindowTitle(tr("%1 ver. %2 %3").arg(PRGNAME).arg(VER_RTKLIB, PATCH_LEVEL));
Expand All @@ -187,7 +189,7 @@ MainWindow::MainWindow(QWidget *parent)
inputStrDialog = new InputStrDialog(this);
outputStrDialog = new OutputStrDialog(this);
logStrDialog = new LogStrDialog(this);
monitor = new MonitorDialog(this, &rtksvr, &monistr);
monitor = new MonitorDialog(this, rtksvr, &monistr);
markDialog = new MarkDialog(this);
systemTray = new QSystemTrayIcon(this);

Expand Down Expand Up @@ -276,7 +278,8 @@ MainWindow::~MainWindow()
delete [] ages;
delete [] ratioAR;

rtksvrfree(&rtksvr);
rtksvrfree(rtksvr);
free(rtksvr);
}

// callback on form create --------------------------------------------------
Expand Down Expand Up @@ -326,7 +329,7 @@ void MainWindow::showEvent(QShowEvent *event)
}

loadOptions();
loadNavigation(&rtksvr.nav);
loadNavigation(&rtksvr->nav);
openMonitorPort(optDialog->monitorPort);

updatePanels();
Expand Down Expand Up @@ -359,7 +362,7 @@ void MainWindow::closeEvent(QCloseEvent *)
strclose(&monistr);
}
saveOptions();
saveNavigation(&rtksvr.nav);
saveNavigation(&rtksvr->nav);
}
// update panel -------------------------------------------------------------
void MainWindow::updatePanels()
Expand Down Expand Up @@ -782,7 +785,7 @@ void MainWindow::showOutputStreamDialog()
for (i = 3; i < 5; i++) {
if (!update[i - 3]) continue;

rtksvrclosestr(&rtksvr, i);
rtksvrclosestr(rtksvr, i);

if (!streamEnabled[i]) continue;

Expand All @@ -796,7 +799,7 @@ void MainWindow::showOutputStreamDialog()
continue;
}
optDialog->solutionOptions.posf = inputFormat[i];
rtksvropenstr(&rtksvr, i, str, qPrintable(path), &optDialog->solutionOptions);
rtksvropenstr(rtksvr, i, str, qPrintable(path), &optDialog->solutionOptions);
}
}
// callback on button-log-streams -------------------------------------------
Expand Down Expand Up @@ -851,7 +854,7 @@ void MainWindow::showLogStreamDialog()
for (i = 5; i < 8; i++) {
if (!update[i - 5]) continue;

rtksvrclosestr(&rtksvr, i);
rtksvrclosestr(rtksvr, i);

if (!streamEnabled[i]) continue;

Expand All @@ -864,7 +867,7 @@ void MainWindow::showLogStreamDialog()
streamEnabled[i] = 0;
continue;
}
rtksvropenstr(&rtksvr, i, str, qPrintable(path), &optDialog->solutionOptions);
rtksvropenstr(rtksvr, i, str, qPrintable(path), &optDialog->solutionOptions);
}
}
// callback on button-solution-show -----------------------------------------
Expand Down Expand Up @@ -1135,7 +1138,7 @@ void MainWindow::serverStart()
}
for (i = 0; i < MAXSAT; i++) {
if (!(pcv = searchpcv(i + 1, "", time, &pcvs))) continue;
rtksvr.nav.pcvs[i] = *pcv;
rtksvr->nav.pcvs[i] = *pcv;
}
free(pcvs.pcv);
}
Expand Down Expand Up @@ -1199,7 +1202,7 @@ void MainWindow::serverStart()
if (optDialog->solutionOptions.geoid > 0 && strlen(optDialog->fileOptions.geoid) > 0)
opengeoid(optDialog->solutionOptions.geoid, qPrintable(optDialog->fileOptions.geoid));
if (strlen(optDialog->fileOptions.dcb) > 0)
readdcb(optDialog->fileOptions.dcb, &rtksvr.nav, NULL);
readdcb(optDialog->fileOptions.dcb, &rtksvr->nav, NULL);

for (i = 0; i < 2; i++) {
solopt[i] = optDialog->solutionOptions;
Expand All @@ -1211,11 +1214,11 @@ void MainWindow::serverStart()
stropt[3] = optDialog->serverBufferSize;
stropt[4] = optDialog->fileSwapMargin;
strsetopt(stropt);
strncpy(rtksvr.cmd_reset, qPrintable(resetCommand), 4095);
rtksvr.bl_reset = maxBaseLine;
strncpy(rtksvr->cmd_reset, qPrintable(resetCommand), 4095);
rtksvr->bl_reset = maxBaseLine;

// start rtk server
if (!rtksvrstart(&rtksvr, optDialog->serverCycle, optDialog->serverBufferSize, streamTypes, (const char **)serverPaths, inputFormat, optDialog->navSelect,
if (!rtksvrstart(rtksvr, optDialog->serverCycle, optDialog->serverBufferSize, streamTypes, (const char **)serverPaths, inputFormat, optDialog->navSelect,
(const char **)cmds, (const char **)cmds_periodic, (const char **)rcvopts, optDialog->nmeaCycle, nmeaRequestType, nmeapos,
&optDialog->processingOptions, solopt, &monistr, errmsg)) {

Expand Down Expand Up @@ -1273,7 +1276,7 @@ void MainWindow::serverStop()

for (i = 0; i < 3; i++) {
cmds[i] = NULL;
streamTypes = rtksvr.stream[i].type;
streamTypes = rtksvr->stream[i].type;

if (streamTypes == STR_SERIAL) {
cmds[i] = new char[1024];
Expand All @@ -1285,7 +1288,7 @@ void MainWindow::serverStop()
if (commandEnableTcp[i][1]) strncpy(cmds[i], qPrintable(commandsTcp[i][1]), 1023);
}
}
rtksvrstop(&rtksvr, (const char **)cmds);
rtksvrstop(rtksvr, (const char **)cmds);

for (i = 0; i < 3; i++) delete[] cmds[i];

Expand Down Expand Up @@ -1328,17 +1331,17 @@ void MainWindow::updateServer()

timerCycle++;

rtksvrlock(&rtksvr);
rtksvrlock(rtksvr);

for (i = 0; i < rtksvr.nsol; i++) {
sol = rtksvr.solbuf + i;
updateLog(sol->stat, sol->time, sol->rr, sol->qr, rtksvr.rtk.rb, sol->ns, sol->age, sol->ratio);
for (i = 0; i < rtksvr->nsol; i++) {
sol = rtksvr->solbuf + i;
updateLog(sol->stat, sol->time, sol->rr, sol->qr, rtksvr->rtk.rb, sol->ns, sol->age, sol->ratio);
update = 1;
}
rtksvr.nsol = 0;
solutionCurrentStatus = rtksvr.state ? rtksvr.rtk.sol.stat : 0;
rtksvr->nsol = 0;
solutionCurrentStatus = rtksvr->state ? rtksvr->rtk.sol.stat : 0;

rtksvrunlock(&rtksvr);
rtksvrunlock(rtksvr);

if (update) {
updateTime();
Expand All @@ -1354,7 +1357,7 @@ void MainWindow::updateServer()
} else {
setWidgetBackgroundColor(ui->lblIndicatorSolution, QColor(Qt::white));
setWidgetTextColor(ui->lblSolution, QColor(Qt::darkGray));
setWidgetBackgroundColor(ui->lblServer, rtksvr.state ? QColor(Qt::darkGreen) : QColor(Qt::darkGray));
setWidgetBackgroundColor(ui->lblServer, rtksvr->state ? QColor(Qt::darkGreen) : QColor(Qt::darkGray));
}

if (!(++timerCycle % 5)) updatePlot();
Expand Down Expand Up @@ -1495,15 +1498,15 @@ void MainWindow::updatePosition()

trace(4, "updatePosition\n");

if (rtksvr.rtk.opt.mode == PMODE_STATIC || rtksvr.rtk.opt.mode == PMODE_PPP_STATIC)
if (rtksvr->rtk.opt.mode == PMODE_STATIC || rtksvr->rtk.opt.mode == PMODE_PPP_STATIC)
ext = " (S)";
else if (rtksvr.rtk.opt.mode == PMODE_FIXED || rtksvr.rtk.opt.mode == PMODE_PPP_FIXED)
else if (rtksvr->rtk.opt.mode == PMODE_FIXED || rtksvr->rtk.opt.mode == PMODE_PPP_FIXED)
ext = " (F)";
ui->lblSolutionText->setText(tr("Solution%1:").arg(ext));

ui->lblSolution->setText(sol[stat]);
setWidgetTextColor(ui->lblSolution, rtksvr.state ? color[stat] : QColor(Qt::darkGray));
setWidgetBackgroundColor(ui->lblIndicatorSolution, rtksvr.state ? color[stat] : QColor(Qt::white));
setWidgetTextColor(ui->lblSolution, rtksvr->state ? color[stat] : QColor(Qt::darkGray));
setWidgetBackgroundColor(ui->lblIndicatorSolution, rtksvr->state ? color[stat] : QColor(Qt::white));
ui->lblIndicatorSolution->setToolTip(sol[stat]);

if (norm(rrover, 3) > 0.0 && norm(rbase, 3) > 0.0)
Expand Down Expand Up @@ -1607,7 +1610,7 @@ void MainWindow::updateStream()

trace(4, "updateStream\n");

rtksvrsstat(&rtksvr, sstat, msg);
rtksvrsstat(rtksvr, sstat, msg);
for (i = 0; i < MAXSTRRTK; i++) {
setWidgetBackgroundColor(ind[i], color[sstat[i]+1]);
if (sstat[i]) {
Expand Down Expand Up @@ -1655,13 +1658,13 @@ void MainWindow::drawSolutionPlot(QLabel *plot, int type, int freq)
snr0[i] = snr[0][i];
snr1[i] = snr[1][i];
}
ns[0] = rtksvrostat(&rtksvr, 0, &time, sat[0], az[0], el[0], snr0, vsat[0]);
ns[1] = rtksvrostat(&rtksvr, 1, &time, sat[1], az[1], el[1], snr1, vsat[1]);
ns[0] = rtksvrostat(rtksvr, 0, &time, sat[0], az[0], el[0], snr0, vsat[0]);
ns[1] = rtksvrostat(rtksvr, 1, &time, sat[1], az[1], el[1], snr1, vsat[1]);

rtksvrlock(&rtksvr);
matcpy(rr, rtksvr.rtk.sol.rr, 3, 1);
rtksvrlock(rtksvr);
matcpy(rr, rtksvr->rtk.sol.rr, 3, 1);
ecef2pos(rr, pos);
rtksvrunlock(&rtksvr);
rtksvrunlock(rtksvr);

for (i = 0; i < 2; i++) {
if (ns[i] > 0) {
Expand Down Expand Up @@ -1934,7 +1937,7 @@ void MainWindow::drawBaseline(QPainter &c, int id, int w, int h)
trace(4, "drawBaseline: w=%d h=%d\n", w, h);

if (PMODE_DGPS <= optDialog->processingOptions.mode && optDialog->processingOptions.mode <= PMODE_FIXED) {
col = (rtksvr.state && solutionStatus[solutionsCurrent] && solutionCurrentStatus) ? colors[solutionStatus[solutionsCurrent]] : Qt::white;
col = (rtksvr->state && solutionStatus[solutionsCurrent] && solutionCurrentStatus) ? colors[solutionStatus[solutionsCurrent]] : Qt::white;

if (norm(rrover, 3) > 0.0 && norm(rbase, 3) > 0.0)
for (i = 0; i < 3; i++)
Expand Down Expand Up @@ -2082,10 +2085,10 @@ void MainWindow::drawTrack(QPainter &c, int id, QPaintDevice *plot)
if (numPoints > 0) {
graph->toPoint(x[currentPointNo], y[currentPointNo], p1);
graph->drawMark(c, p1, Graph::MarkerTypes::Dot, Qt::white, 18, 0);
graph->drawMark(c, p1, Graph::MarkerTypes::Circle, rtksvr.state ? Qt::black : Qt::darkGray, 16, 0);
graph->drawMark(c, p1, Graph::MarkerTypes::Plus, rtksvr.state ? Qt::black : Qt::darkGray, 20, 0);
graph->drawMark(c, p1, Graph::MarkerTypes::Dot, rtksvr.state ? Qt::black : Qt::darkGray, 12, 0);
graph->drawMark(c, p1, Graph::MarkerTypes::Dot, rtksvr.state ? color[currentPointNo] : Qt::white, 10, 0);
graph->drawMark(c, p1, Graph::MarkerTypes::Circle, rtksvr->state ? Qt::black : Qt::darkGray, 16, 0);
graph->drawMark(c, p1, Graph::MarkerTypes::Plus, rtksvr->state ? Qt::black : Qt::darkGray, 20, 0);
graph->drawMark(c, p1, Graph::MarkerTypes::Dot, rtksvr->state ? Qt::black : Qt::darkGray, 12, 0);
graph->drawMark(c, p1, Graph::MarkerTypes::Dot, rtksvr->state ? color[currentPointNo] : Qt::white, 10, 0);
}

// draw scale
Expand Down Expand Up @@ -2646,19 +2649,19 @@ void MainWindow::saveOptions()
//---------------------------------------------------------------------------
void MainWindow::btnMarkClicked()
{
markDialog->setPositionMode(rtksvr.rtk.opt.mode);
markDialog->setPositionMode(rtksvr->rtk.opt.mode);
markDialog->setName(markerName);
markDialog->setComment(markerComment);
markDialog->setStationPositionFile(optDialog->fileOptions.stapos);

if (markDialog->exec() != QDialog::Accepted) return;

rtksvr.rtk.opt.mode = markDialog->getPositionMode();
rtksvr->rtk.opt.mode = markDialog->getPositionMode();
markerName = markDialog->getName();
markerComment = markDialog->getComment();

if (!markerName.isEmpty())
rtksvrmark(&rtksvr, qPrintable(markerName), qPrintable(markerComment));
rtksvrmark(rtksvr, qPrintable(markerName), qPrintable(markerComment));

updatePosition();
}
Expand Down
2 changes: 1 addition & 1 deletion app/qtapp/rtknavi_qt/navimain.h
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Original file line number Diff line number Diff line change
Expand Up @@ -84,7 +84,7 @@ public slots:
void showEvent(QShowEvent*);
void closeEvent(QCloseEvent *);

rtksvr_t rtksvr; // rtk server struct
rtksvr_t *rtksvr; // rtk server struct
stream_t monistr; // monitor stream

private:
Expand Down