diff --git a/include/gnss_utils/navigation.h b/include/gnss_utils/navigation.h
index fe96ab254a94815a902953b0afa71cec1a29b8b3..a58c834e807cf31950b5b3a9ea705e30ca685f1a 100644
--- a/include/gnss_utils/navigation.h
+++ b/include/gnss_utils/navigation.h
@@ -37,95 +37,17 @@ namespace GNSSUtils
// Ephemeris
void allocateEphemeris(int n_sat = MAXSAT);
-
void deleteEphemeris();
void allocateGLONASSEphemeris(int n_sat = NSATGLO);
-
void deleteGLONASSEphemeris();
void allocateSBASEphemeris(int n_sat = NSATSBS*2); //SBAS
-
void deleteSBASEphemeris();
void allocateAlmanac(int n_sat = MAXSAT);
-
void deleteAlmanac();
-
- // UTC
- void allocateUTCGPS(int n); //GPS
-
- void deleteUTCGPS();
-
- void allocateUTCGlo(int n); // Glo
-
- void deleteUTCGlo();
-
- void allocateUTCGal(int n); // Galileo
-
- void deleteUTCGal();
-
- void allocateUTCQZS(int n); // QZS
-
- void deleteUTCQZS();
-
- void allocateUTCCMP(int n); // BeiDou
-
- void deleteUTCCMP();
-
- void allocateUTCSBAS(int n); // SBAS
-
- void deleteUTCSBAS();
-
-
- // Ionosphere
- void allocateIonGPS(int n); // GPS
-
- void deleteIonGPS();
-
- void allocateIonGal(int n); // Galileo
-
- void deleteIonGal();
-
- void allocateIonQZS(int n); // QZS
-
- void deleteIonQZS();
-
- void allocateIonCMP(int n); // BeiDou
-
- void deleteIonCMP();
-
-
- //Others
- void allocatelam(int n);
-
- void deletelam();
-
- void allocatecbias(int n);
-
- void deletecbias();
-
- void allocatewlbias(int n);
-
- void deletewlbias();
-
- void allocateglocpbias(int n);
-
- void deleteglocpbias();
-
- void allocateglofcn(int n);
-
- void deleteglofcn();
-
- void allocatepcv(int n);
-
- void deletepcv();
-
- void allocatesbsion(int n);
-
- void deletesbsion();
-
private:
// rtklib-like attribute to represent the different navigation msgs for a given epoch
diff --git a/src/navigation.cpp b/src/navigation.cpp
index 6129fa20f2c5ec73da42c4731fb4b68462fb2138..3e5a9e4eab40d59a4b2eb80eb444707bb81970d1 100644
--- a/src/navigation.cpp
+++ b/src/navigation.cpp
@@ -5,14 +5,7 @@ using namespace GNSSUtils;
Navigation::Navigation()
-{
- //_nav = (nav_t *) malloc(sizeof(nav_t));
- // allocateEphemeris();
- // allocateGLONASSEphemeris();
- // allocateSBASEphemeris();
- //
- // allocateAlmanac();
-}
+{}
Navigation::~Navigation()
{
@@ -25,68 +18,11 @@ void Navigation::clearNavigation()
deleteEphemeris();
deleteGLONASSEphemeris();
deleteSBASEphemeris();
-
deleteAlmanac();
-
- /*
- this->deleteUTCGPS();
- this->deleteUTCGlo();
- this->deleteUTCGal();
- this->deleteUTCQZS();
- this->deleteUTCCMP();
- this->deleteUTCSBAS();
-
- this->deleteIonGPS();
- this->deleteIonGal();
- this->deleteIonQZS();
- this->deleteIonCMP();
-
- this->deletelam();
- this->deletecbias();
-
- this->deletewlbias();
- this->deleteglocpbias();
- this->deleteglofcn();
-
- this->deletepcv();
- this->deletesbsion();
- */
}
void Navigation::setNavigation(nav_t _nav)
{
- /*
- allocateEphemeris();
- allocateGLONASSEphemeris();
- allocateSBASEphemeris();
-
- allocateAlmanac();
-
-
- this->allocateUTCGPS(4);
- this->allocateUTCGlo(4);
- this->allocateUTCGal(4);
- this->allocateUTCQZS(4);
- this->allocateUTCCMP(4);
- this->allocateUTCSBAS(4);
-
- this->allocateIonGPS(8);
- this->allocateIonGal(4);
- this->allocateIonQZS(8);
- this->allocateIonCMP(8);
-
- this->allocatelam(MAXSAT*NFREQ);
- this->allocatecbias(MAXSAT*3);
-
- this->allocatewlbias(MAXSAT);
- this->allocateglocpbias(4);
- this->allocateglofcn(MAXPRNGLO+1);
-
- this->allocatepcv(MAXSAT);
- this->allocatesbsion(MAXBAND+1);
- */
-
-
nav_ = _nav;
}
@@ -126,18 +62,7 @@ void Navigation::allocateEphemeris(int n_sat)
void Navigation::deleteEphemeris()
{
- //free(_nav.eph);
- /*
- if (_nav->eph)
- {
- free(_nav->eph);
- }
-
- else
- {
- // Do nothing
- }
- */
+ free(_nav.eph);
}
@@ -164,19 +89,17 @@ void Navigation::allocateGLONASSEphemeris(int n_sat)
void Navigation::deleteGLONASSEphemeris()
{
- /*
free(_nav->geph);
-
- if (_nav->geph)
- {
- free(_nav->geph);
- }
-
- else
- {
- // Do nothing
- }
- */
+ // if (_nav->geph)
+ // {
+ // free(_nav->geph);
+ // }
+ //
+ // else
+ // {
+ // // Do nothing
+ // }
+ //
}
void Navigation::allocateSBASEphemeris(int n_sat)
@@ -201,19 +124,16 @@ void Navigation::allocateSBASEphemeris(int n_sat)
void Navigation::deleteSBASEphemeris()
{
- /*
free(_nav->seph);
-
- if (_nav->seph)
- {
- free(_nav->seph);
- }
-
- else
- {
- // Do nothing
- }
- */
+ // if (_nav->seph)
+ // {
+ // free(_nav->seph);
+ // }
+ //
+ // else
+ // {
+ // // Do nothing
+ // }
}
void Navigation::allocateAlmanac(int n_sat)
@@ -238,499 +158,15 @@ void Navigation::allocateAlmanac(int n_sat)
void Navigation::deleteAlmanac()
{
- /*
free(_nav->alm);
- if (_nav->alm)
- {
- free(_nav->alm);
- }
-
- else
- {
- // Do nothing
- }
- */
-}
-
-
-// UTC
-/*
-void Navigation::allocateUTCGPS(int n) //GPS
-{
- if (_nav->utc_gps)
- {
- _nav->utc_gps = (double *)realloc(_nav->utc_gps, n * sizeof(double));
- }
-
- else
- {
- _nav->utc_gps = (double *) malloc(n * sizeof(double));
- }
-}
-
-
-
-void Navigation::deleteUTCGPS()
-{
- if (_nav->utc_gps)
- {
- free(_nav->utc_gps);
- }
-
- else
- {
- // Do nothing
- }
-}
-
-
-void Navigation::allocateUTCGlo(int n) //GLONASS
-{
- if (_nav->utc_glo)
- {
- _nav->utc_glo = (double *)realloc(_nav->utc_glo, n * sizeof(double));
- }
-
- else
- {
- _nav->utc_glo = (double *) malloc(n * sizeof(double));
- }
-}
-
-
-void Navigation::deleteUTCGlo()
-{
- if (_nav->utc_glo)
- {
- free(_nav->utc_glo);
- }
-
- else
- {
- // Do nothing
- }
-}
-
-
-void Navigation::allocateUTCGal(int n) //Galileo
-{
- if (_nav->utc_gal)
- {
- _nav->utc_gal = (double *)realloc(_nav->utc_gal, n * sizeof(double));
- }
-
- else
- {
- _nav->utc_gal = (double *) malloc(n * sizeof(double));
- }
-}
-
-
-void Navigation::deleteUTCGal()
-{
- if (_nav->utc_gal)
- {
- free(_nav->utc_gal);
- }
-
- else
- {
- // Do nothing
- }
-}
-
-
-void Navigation::allocateUTCQZS(int n) //QZS
-{
- if (_nav->utc_qzs)
- {
- _nav->utc_qzs = (double *)realloc(_nav->utc_qzs, n * sizeof(double));
- }
-
- else
- {
- _nav->utc_qzs = (double *) malloc(n * sizeof(double));
- }
-}
-
-
-void Navigation::deleteUTCQZS()
-{
- if (_nav->utc_qzs)
- {
- free(_nav->utc_qzs);
- }
-
- else
- {
- // Do nothing
- }
-}
-
-
-void Navigation::allocateUTCCMP(int n) //BeiDou
-{
- if (_nav->utc_cmp)
- {
- _nav->utc_cmp = (double *)realloc(_nav->utc_cmp, n * sizeof(double));
- }
-
- else
- {
- _nav->utc_cmp = (double *) malloc(n * sizeof(double));
- }
-}
-
-
-void Navigation::deleteUTCCMP()
-{
- if (_nav->utc_cmp)
- {
- free(_nav->utc_cmp);
- }
-
- else
- {
- // Do nothing
- }
-}
-
-
-void Navigation::allocateUTCSBAS(int n) //SBAS
-{
- if (_nav->utc_sbs)
- {
- _nav->utc_sbs = (double *)realloc(_nav->utc_sbs, n * sizeof(double));
- }
-
- else
- {
- _nav->utc_sbs = (double *) malloc(n * sizeof(double));
- }
-}
-
-
-void Navigation::deleteUTCSBAS()
-{
- if (_nav->utc_sbs)
- {
- free(_nav->utc_sbs);
- }
-
- else
- {
- // Do nothing
- }
-}
-
-// Ionosphere
-
-void Navigation::allocateIonGPS(int n) //GPS
-{
- if (_nav->ion_gps)
- {
- _nav->ion_gps = (double *)realloc(_nav->ion_gps, n * sizeof(double));
- }
-
- else
- {
- _nav->ion_gps = (double *) malloc(n * sizeof(double));
- }
-}
-
-
-void Navigation::deleteIonGPS()
-{
- if (_nav->ion_gps)
- {
- free(_nav->ion_gps);
- }
-
- else
- {
- // Do nothing
- }
-}
-
-
-void Navigation::allocateIonGal(int n) //Galileo
-{
- if (_nav->utc_gal)
- {
- _nav->utc_gal = (double *)realloc(_nav->utc_gal, n * sizeof(double));
- }
-
- else
- {
- _nav->utc_gal = (double *) malloc(n * sizeof(double));
- }
-}
-
-
-void Navigation::deleteIonGal()
-{
- if (_nav->utc_gal)
- {
- free(_nav->utc_gal);
- }
-
- else
- {
- // Do nothing
- }
-}
-
-
-void Navigation::allocateIonQZS(int n) //QZS
-{
- if (_nav->utc_qzs)
- {
- _nav->utc_qzs = (double *)realloc(_nav->utc_qzs, n * sizeof(double));
- }
-
- else
- {
- _nav->utc_qzs = (double *) malloc(n * sizeof(double));
- }
-}
-
-
-void Navigation::deleteIonQZS()
-{
- if (_nav->utc_qzs)
- {
- free(_nav->utc_qzs);
- }
-
- else
- {
- // Do nothing
- }
-}
-
-
-void Navigation::allocateIonCMP(int n) //BeiDou
-{
- if (_nav->utc_cmp)
- {
- _nav->utc_cmp = (double *)realloc(_nav->utc_cmp, n * sizeof(double));
- }
-
- else
- {
- _nav->utc_cmp = (double *) malloc(n * sizeof(double));
- }
-}
-
-
-void Navigation::deleteIonCMP()
-{
- if (_nav->utc_cmp)
- {
- free(_nav->utc_cmp);
- }
-
- else
- {
- // Do nothing
- }
-}
-
-// Others
-
-void Navigation::allocatelam(int n)
-{
- if (_nav->lam)
- {
- _nav->lam = (double *)realloc(_nav->lam, n * sizeof(double));
- }
-
- else
- {
- _nav->lam = (double *) malloc(n * sizeof(double));
- }
-}
-
-
-void Navigation::deletelam()
-{
- if (_nav->lam)
- {
- free(_nav->lam);
- }
-
- else
- {
- // Do nothing
- }
-}
-
-
-void Navigation::allocatecbias(int n)
-{
- if (_nav->cbias)
- {
- _nav->cbias = (double *)realloc(_nav->cbias, n * sizeof(double));
- }
-
- else
- {
- _nav->cbias = (double *) malloc(n * sizeof(double));
- }
-}
-
-
-void Navigation::deletecbias()
-{
- if (_nav->cbias)
- {
- free(_nav->cbias);
- }
-
- else
- {
- // Do nothing
- }
-}
-
-
-void Navigation::allocatewlbias(int n)
-{
- if (_nav->wlbias)
- {
- _nav->wlbias = (double *)realloc(_nav->wlbias, n * sizeof(double));
- }
-
- else
- {
- _nav->wlbias = (double *) malloc(n * sizeof(double));
- }
-}
-
-
-void Navigation::deletewlbias()
-{
- if (_nav->wlbias)
- {
- free(_nav->wlbias);
- }
-
- else
- {
- // Do nothing
- }
-}
-
-
-void Navigation::allocateglocpbias(int n)
-{
- if (_nav->glo_cpbias)
- {
- _nav->glo_cpbias = (double *)realloc(_nav->glo_cpbias, n * sizeof(double));
- }
-
- else
- {
- _nav->glo_cpbias = (double *) malloc(n * sizeof(double));
- }
-}
-
-
-void Navigation::deleteglocpbias()
-{
- if (_nav->glo_cpbias)
- {
- free(_nav->glo_cpbias);
- }
-
- else
- {
- // Do nothing
- }
-}
-
-
-void Navigation::allocateglofcn(int n)
-{
- if (_nav->glo_fcn)
- {
- _nav->glo_fcn = (char *)realloc(_nav->glo_fcn, n * sizeof(char));
- }
-
- else
- {
- _nav->glo_fcn = (char *) malloc(n * sizeof(char));
- }
-}
-
-
-void Navigation::deleteglofcn()
-{
- if (_nav->glo_fcn)
- {
- free(_nav->glo_fcn);
- }
-
- else
- {
- // Do nothing
- }
-}
-
-
-void Navigation::allocatepcv(int n)
-{
- if (_nav->pcvs)
- {
- _nav->pcvs = (pcv_t *)realloc(_nav->pcvs, n * sizeof(pcv_t));
- }
-
- else
- {
- _nav->pcvs = (pcv_t*) malloc(n * sizeof(pcv_t));
- }
-}
-
-
-void Navigation::deletepcv()
-{
- if (_nav->pcvs)
- {
- free(_nav->pcvs);
- }
-
- else
- {
- // Do nothing
- }
-}
-
-
-void Navigation::allocatesbsion(int n)
-{
- if (_nav->sbsion)
- {
- _nav->sbsion = (sbsion_t *)realloc(_nav->sbsion, n * sizeof(sbsion_t));
- }
-
- else
- {
- _nav->sbsion = (sbsion_t*) malloc(n * sizeof(sbsion_t));
- }
-}
-
-
-void Navigation::deletesbsion()
-{
- if (_nav->sbsion)
- {
- free(_nav->sbsion);
- }
-
- else
- {
- // Do nothing
- }
+ // if (_nav->alm)
+ // {
+ // free(_nav->alm);
+ // }
+ //
+ // else
+ // {
+ // // Do nothing
+ // }
}
-*/