[memory_mngmnt] Clear methods for navigation ptrs

include/gnss_utils/navigation.h

@@ -30,8 +30,6 @@ class Navigation
 
         void clearNavigation();
 
-        void freeNavigation();
-
         void setNavigation(nav_t nav);
         void loadFromRinex(const std::string& rnx_file, gtime_t t_start, gtime_t t_end, double dt = 0.0, const char* opt = "");
 
@@ -40,11 +38,15 @@ class Navigation
 
 
         /****************** Array memory management ******************/
-        // Ephemeris
         bool addEphemeris(const eph_t& eph);
         bool addGLONASSEphemeris(const geph_t& geph);
         bool addSBASEphemeris(const seph_t& seph);
         bool addAlmanac(const alm_t& alm);
+        
+        void clearEphemeris();
+        void clearGLONASSEphemeris();
+        void clearSBASEphemeris();
+        void clearAlmanac();
 
         //void allocateEphemeris(int n_sat = MAXSAT);
         //void deleteEphemeris();

include/gnss_utils/ublox_raw.h

@@ -23,9 +23,7 @@ class UBloxRaw
   Observations obs_;
   Navigation nav_;
 
-  void updateObservations();
-  void updateNavigation();
-  
+  void updateObservations();  
 
 };
 

src/navigation.cpp

@@ -32,32 +32,12 @@ Navigation::Navigation()
 
 Navigation::~Navigation()
 {
-  freeNavigation();
-}
-
-void Navigation::freeNavigation()
-{
-  freenav(&nav_,255);
+  clearNavigation();
 }
 
 void Navigation::clearNavigation()
 {  
-  nav_.eph =NULL;
-  nav_.geph=NULL;
-  nav_.seph=NULL;
-  nav_.peph=NULL;
-  nav_.pclk=NULL;
-  nav_.alm =NULL;
-  nav_.tec =NULL;
-  nav_.fcb =NULL;
-  nav_.n =nav_.nmax =0;
-  nav_.ng=nav_.ngmax=0;
-  nav_.ns=nav_.nsmax=0;
-  nav_.ne=nav_.nemax=0;
-  nav_.nc=nav_.ncmax=0;
-  nav_.na=nav_.namax=0;
-  nav_.nt=nav_.ntmax=0;
-  nav_.nf=nav_.nfmax=0;
+  freenav(&nav_,255);
 }
 
 void Navigation::setNavigation(nav_t _nav)
@@ -109,6 +89,7 @@ bool Navigation::addEphemeris(const eph_t& eph)
     nav_.eph[nav_.n++]=eph;
     return true;
 }
+
 bool Navigation::addGLONASSEphemeris(const geph_t& geph)
 {
     // "inspired" from RTKLIB rinex.c
@@ -126,6 +107,7 @@ bool Navigation::addGLONASSEphemeris(const geph_t& geph)
     nav_.geph[nav_.ng++]=geph;
     return true;
 }
+
 bool Navigation::addSBASEphemeris(const seph_t& seph)
 {
     // "inspired" from RTKLIB rinex.c
@@ -143,6 +125,7 @@ bool Navigation::addSBASEphemeris(const seph_t& seph)
     nav_.seph[nav_.ns++]=seph;
     return true;
 }
+
 bool Navigation::addAlmanac(const alm_t& alm)
 {
     // "inspired" from RTKLIB rinex.c
@@ -161,6 +144,26 @@ bool Navigation::addAlmanac(const alm_t& alm)
     return true;
 }
 
+void Navigation::clearEphemeris()
+{
+  if (nav_.eph != NULL) {free(nav_.eph ); nav_.eph =NULL; nav_.n =nav_.nmax =0;}
+}
+
+void Navigation::clearGLONASSEphemeris()
+{
+  if (nav_.geph != NULL) {free(nav_.geph); nav_.geph=NULL; nav_.ng=nav_.ngmax=0;}
+}
+
+void Navigation::clearSBASEphemeris()
+{
+  if (nav_.seph != NULL) {free(nav_.seph); nav_.seph=NULL; nav_.ns=nav_.nsmax=0;}
+}
+
+void Navigation::clearAlmanac()
+{
+  if (nav_.alm != NULL) {free(nav_.alm ); nav_.alm =NULL; nav_.na=nav_.namax=0;}
+}
+
 /****************** Array memory management ******************/
 //void Navigation::allocateEphemeris(int n_sat)
 //{

src/ublox_raw.cpp

@@ -29,15 +29,27 @@ int UBloxRaw::addDataStream(const std::vector<u_int8_t>& data_stream)
     break;
   case 2:
     // Ephemeris
-    updateNavigation();
+    nav_.clearEphemeris();
+    nav_.clearGLONASSEphemeris();
+    nav_.clearSBASEphemeris();
+    nav_.addEphemeris(*(raw_data_.nav.eph));
+    nav_.addGLONASSEphemeris(*(raw_data_.nav.geph));
+    nav_.addSBASEphemeris(*(raw_data_.nav.seph));
     break;
   case 3:
-    // SBAS Message (we should update observations, right?)
+    // SBAS
+    nav_.clearEphemeris();
+    nav_.clearGLONASSEphemeris();
+    nav_.clearSBASEphemeris();
+    nav_.addEphemeris(*(raw_data_.nav.eph));
+    nav_.addGLONASSEphemeris(*(raw_data_.nav.geph));
+    nav_.addSBASEphemeris(*(raw_data_.nav.seph));
     updateObservations();
     break;
   case 9:
     // Almanac
-    updateNavigation();
+    nav_.clearAlmanac();
+    nav_.addAlmanac(*(raw_data_.nav.alm));
     break;
   }
 
@@ -49,20 +61,15 @@ const Navigation& UBloxRaw::getNavigation() const {return nav_;}
 
 void UBloxRaw::updateObservations()
 {
-  std::cout << "---------------------------JUST BEFORE!-------------------" << std::endl;
-  obs_.print();
+  // 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]);
   }
 
-  std::cout << "--------------------------JUST AFTER!---------------------" << std::endl;
-  obs_.print();
+  // std::cout << "--------------------------JUST AFTER!---------------------" << std::endl;
+  // obs_.print();
 
-}
-
-void UBloxRaw::updateNavigation()
-{
-  nav_.setNavigation(raw_data_.nav);
 }
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