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Commit 1c39e48f authored by Joan Vallvé Navarro's avatar Joan Vallvé Navarro
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clear navigation and enum for ublox_raw output

parent 4e97c7ea
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include/gnss_utils/navigation.h
+ 1
− 0
View file @ 1c39e48f
......@@ -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;
......
include/gnss_utils/ublox_raw.h
+ 9
− 9
View file @ 1c39e48f
......@@ -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_;
}
......
src/navigation.cpp
+ 21
− 16
View file @ 1c39e48f
......@@ -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);
......
src/ublox_raw.cpp
+ 57
− 59
View file @ 1c39e48f
......@@ -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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