From 1c39e48f82e748b691d7ab12dbe1f84674261860 Mon Sep 17 00:00:00 2001
From: joanvallve <jvallve@iri.upc.edu>
Date: Wed, 25 Mar 2020 12:42:07 +0100
Subject: [PATCH] clear navigation and enum for ublox_raw output
---
include/gnss_utils/navigation.h | 1 +
include/gnss_utils/ublox_raw.h | 18 ++---
src/navigation.cpp | 37 +++++-----
src/ublox_raw.cpp | 116 ++++++++++++++++----------------
4 files changed, 88 insertions(+), 84 deletions(-)
diff --git a/include/gnss_utils/navigation.h b/include/gnss_utils/navigation.h
index f5008e9..33642bf 100644
--- a/include/gnss_utils/navigation.h
+++ b/include/gnss_utils/navigation.h
@@ -29,6 +29,7 @@ class Navigation
// Public methods
void setNavigation(nav_t nav);
+ void clearNavigation();
void loadFromRinex(const std::string& rnx_file, gtime_t t_start, gtime_t t_end, double dt = 0.0, const char* opt = "");
const nav_t & getNavigation() const;
diff --git a/include/gnss_utils/ublox_raw.h b/include/gnss_utils/ublox_raw.h
index 4d248c2..cc9f65b 100644
--- a/include/gnss_utils/ublox_raw.h
+++ b/include/gnss_utils/ublox_raw.h
@@ -6,7 +6,7 @@
namespace GNSSUtils
{
-enum RawDataType {OBS = 1, NAV_EPH = 2, NAV_SBAS = 3, NAV_ALM = 9};
+enum RawDataType : int {NO = 0, OBS = 1, NAV_EPH = 2, NAV_SBAS = 3, NAV_ALM = 9, NAV_ANT = 5, NAV_DGPS = 7, NAV_SSR = 10, NAV_LEX = 31, ERROR = -1};
class UBloxRaw
{
@@ -14,12 +14,12 @@ class UBloxRaw
UBloxRaw();
~UBloxRaw();
- int addDataStream(const std::vector<u_int8_t>& data_stream);
+ RawDataType addDataStream(const std::vector<u_int8_t>& data_stream);
- Observations getObservations();
- Navigation getNavigation();
+ Observations& getObservations();
+ Navigation& getNavigation();
- const int& getRawDataType() const;
+ RawDataType getRawDataType() const;
private:
raw_t raw_data_;
@@ -27,23 +27,23 @@ class UBloxRaw
Observations obs_;
Navigation nav_;
- int raw_data_type_;
+ RawDataType raw_data_type_;
void updateObservations();
};
-inline GNSSUtils::Observations UBloxRaw::getObservations()
+inline GNSSUtils::Observations& UBloxRaw::getObservations()
{
return obs_;
}
-inline GNSSUtils::Navigation UBloxRaw::getNavigation()
+inline GNSSUtils::Navigation& UBloxRaw::getNavigation()
{
return nav_;
}
-inline const int& UBloxRaw::getRawDataType() const
+inline RawDataType UBloxRaw::getRawDataType() const
{
return raw_data_type_;
}
diff --git a/src/navigation.cpp b/src/navigation.cpp
index a91efa5..3cfecdc 100644
--- a/src/navigation.cpp
+++ b/src/navigation.cpp
@@ -5,22 +5,7 @@ using namespace GNSSUtils;
Navigation::Navigation()
{
// initialization
- freeNavigationArrays();
- memset (nav_.utc_gps, 0, sizeof (nav_.utc_gps));
- memset (nav_.utc_glo, 0, sizeof (nav_.utc_glo));
- memset (nav_.utc_gal, 0, sizeof (nav_.utc_gal));
- memset (nav_.utc_qzs, 0, sizeof (nav_.utc_qzs));
- memset (nav_.utc_cmp, 0, sizeof (nav_.utc_cmp));
- memset (nav_.utc_irn, 0, sizeof (nav_.utc_irn));
- memset (nav_.utc_sbs, 0, sizeof (nav_.utc_sbs));
- memset (nav_.ion_gps, 0, sizeof (nav_.ion_gps));
- memset (nav_.ion_gal, 0, sizeof (nav_.ion_gal));
- memset (nav_.ion_qzs, 0, sizeof (nav_.ion_qzs));
- memset (nav_.ion_cmp, 0, sizeof (nav_.ion_cmp));
- memset (nav_.ion_irn, 0, sizeof (nav_.ion_irn));
- nav_.leaps = 0;
- sbssat_t sbssat_zero = {0};
- nav_.sbssat = sbssat_zero;
+ clearNavigation();
}
Navigation::Navigation(const Navigation& nav)
@@ -91,6 +76,26 @@ void Navigation::setNavigation(nav_t _nav)
// pppcorr_t pppcorr; /* ppp corrections */
}
+void Navigation::clearNavigation()
+{
+ freeNavigationArrays();
+ memset (nav_.utc_gps, 0, sizeof (nav_.utc_gps));
+ memset (nav_.utc_glo, 0, sizeof (nav_.utc_glo));
+ memset (nav_.utc_gal, 0, sizeof (nav_.utc_gal));
+ memset (nav_.utc_qzs, 0, sizeof (nav_.utc_qzs));
+ memset (nav_.utc_cmp, 0, sizeof (nav_.utc_cmp));
+ memset (nav_.utc_irn, 0, sizeof (nav_.utc_irn));
+ memset (nav_.utc_sbs, 0, sizeof (nav_.utc_sbs));
+ memset (nav_.ion_gps, 0, sizeof (nav_.ion_gps));
+ memset (nav_.ion_gal, 0, sizeof (nav_.ion_gal));
+ memset (nav_.ion_qzs, 0, sizeof (nav_.ion_qzs));
+ memset (nav_.ion_cmp, 0, sizeof (nav_.ion_cmp));
+ memset (nav_.ion_irn, 0, sizeof (nav_.ion_irn));
+ nav_.leaps = 0;
+ sbssat_t sbssat_zero = {0};
+ nav_.sbssat = sbssat_zero;
+}
+
void Navigation::loadFromRinex(const std::string& rnx_file, gtime_t t_start, gtime_t t_end, double dt, const char* opt)
{
auto stat = readrnxt(rnx_file.c_str(), 1, t_start, t_end, dt, opt, NULL, &nav_, NULL);
diff --git a/src/ublox_raw.cpp b/src/ublox_raw.cpp
index dcb60bf..5886ce2 100644
--- a/src/ublox_raw.cpp
+++ b/src/ublox_raw.cpp
@@ -3,13 +3,13 @@
using namespace GNSSUtils;
UBloxRaw::UBloxRaw() :
- raw_data_type_(0)
+ raw_data_type_(NO)
{
- if (init_raw(&raw_data_, STRFMT_UBX) == 0)
- {
- assert("Failed when allocating memory for raw_t");
- return;
- }
+ if (init_raw(&raw_data_, STRFMT_UBX) == 0)
+ {
+ assert("Failed when allocating memory for raw_t");
+ return;
+ }
};
UBloxRaw::~UBloxRaw()
@@ -17,51 +17,51 @@ UBloxRaw::~UBloxRaw()
free_raw(&raw_data_);
};
-int UBloxRaw::addDataStream(const std::vector<u_int8_t>& data_stream)
+RawDataType UBloxRaw::addDataStream(const std::vector<u_int8_t>& data_stream)
{
- // Update type based on RTKLIB
- for (auto data_byte = data_stream.begin(); data_byte != data_stream.end(); ++data_byte)
- {
- raw_data_type_ = input_ubx(&raw_data_, (unsigned char)*data_byte);
- }
+ // Update type based on RTKLIB
+ for (auto data_byte = data_stream.begin(); data_byte != data_stream.end(); ++data_byte)
+ raw_data_type_ = input_ubx(&raw_data_, (unsigned char)*data_byte);
+
+ switch (raw_data_type_)
+ {
+ case OBS: // Observations
+ updateObservations();
+ break;
+
+ case NAV_EPH: // Ephemeris
+ nav_.copyEphemeris(raw_data_.nav);
+ break;
- switch (raw_data_type_)
- {
- case 1:
- updateObservations();
- break;
- case 2:
- // Ephemeris
- nav_.copyEphemeris(raw_data_.nav);
- break;
- case 3:
- // SBAS
- nav_.addSbasMessage(raw_data_.sbsmsg);
- break;
- case 9:
- // Almanac and ion/utc parameters
- nav_.freeAlmanac();
- nav_.copyAlmanac(raw_data_.nav);
- nav_.copyIonUtc(raw_data_.nav);
- break;
- case 5:
- std::cout << "UBloxRaw: Received antenna postion parameters. Not handled.\n";
- break;
- case 7:
- std::cout << "UBloxRaw: Received dgps correction. Not handled.\n";
- break;
- case 10:
- std::cout << "UBloxRaw: Received ssr message. Not handled.\n";
- break;
- case 31:
- std::cout << "UBloxRaw: Received lex message. Not handled.\n";
- break;
- case -1:
- std::cout << "UBloxRaw: Received error message. Not handled.\n";
- break;
- default:
- std::cout << "UBloxRaw: Received unknown message. Not handled.\n";
- break;
+ case NAV_SBAS: // SBAS
+ nav_.addSbasMessage(raw_data_.sbsmsg);
+ break;
+
+ case NAV_ALM: // Almanac and ion/utc parameters
+ nav_.freeAlmanac();
+ nav_.copyAlmanac(raw_data_.nav);
+ nav_.copyIonUtc(raw_data_.nav);
+ break;
+
+ // Not handled messages
+ case NAV_ANT:
+ std::cout << "UBloxRaw: Received antenna postion parameters. Not handled.\n";
+ break;
+ case NAV_DGPS:
+ std::cout << "UBloxRaw: Received dgps correction. Not handled.\n";
+ break;
+ case NAV_SSR:
+ std::cout << "UBloxRaw: Received ssr message. Not handled.\n";
+ break;
+ case NAV_LEX:
+ std::cout << "UBloxRaw: Received lex message. Not handled.\n";
+ break;
+ case ERROR:
+ std::cout << "UBloxRaw: Received error message. Not handled.\n";
+ break;
+ default:
+ std::cout << "UBloxRaw: Received unknown message. Not handled.\n";
+ break;
}
return raw_data_type_;
@@ -70,16 +70,14 @@ int UBloxRaw::addDataStream(const std::vector<u_int8_t>& data_stream)
void UBloxRaw::updateObservations()
{
// sort and remove duplicated observations
- sortobs(&raw_data_.obs);
- // std::cout << "---------------------------JUST BEFORE!-------------------" << std::endl;
- // obs_.print();
- obs_.clearObservations();
- for (int ii = 0; ii < raw_data_.obs.n; ++ii)
- {
- obs_.addObservation(raw_data_.obs.data[ii]);
- }
+ sortobs(&raw_data_.obs);
+ // std::cout << "---------------------------JUST BEFORE!-------------------" << std::endl;
+ // obs_.print();
- // std::cout << "--------------------------JUST AFTER!---------------------" << std::endl;
- // obs_.print();
+ obs_.clearObservations();
+ for (int ii = 0; ii < raw_data_.obs.n; ++ii)
+ obs_.addObservation(raw_data_.obs.data[ii]);
+ // std::cout << "--------------------------JUST AFTER!---------------------" << std::endl;
+ // obs_.print();
}
--
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