diff --git a/include/gnss_utils.h b/include/gnss_utils.h
index 0c5b6ed4320ee047358ce6f0c56592714b069f7d..f090487399a008b1dc097d3f0e1e5fa47ecaa353 100644
--- a/include/gnss_utils.h
+++ b/include/gnss_utils.h
@@ -5,8 +5,6 @@
#include <iostream>
#include <memory>
-#include "observation.h"
-
extern "C"
{
#include "/home/jlaplaza/RTKLIB/src/rtklib.h"
@@ -39,25 +37,38 @@ namespace GNSSUtils
void clearNavigation();
- void pushNavigation(nav_t nav);
+ void setNavigation(nav_t nav);
- std::vector<nav_t> getNavigation();
+ nav_t getNavigation();
/* - Processing Options - */
void clearOptions();
- void pushOption(prcopt_t opt);
+ void setOptions(prcopt_t opt);
- std::vector<prcopt_t> getOptions();
+ prcopt_t getOptions();
/* - Solution - */
+ void clearSolution();
+
+ void setSolution(sol_t sol);
+
+ sol_t getSolution();
+
/* - Satellite status - */
+ void clearSatStatus();
+
+ void setSatStatus(ssat_t ssat);
+
+ ssat_t getSatStatus();
+
+
/* - Compute Fix - */
int computeSPP(double *azel, char *msg);
@@ -67,21 +78,18 @@ namespace GNSSUtils
std::vector<obsd_t> _obsVector;
// rtklib-like attribute to represent the different navigation msgs for a given epoch
- std::vector<nav_t> _navVector;
+ nav_t _nav;
// rtklib-like attribute to represent the different options for a given epoch
- std::vector<prcopt_t> _opt;
+ prcopt_t _opt;
// rtklib-like attribute to represent the solution for a given epoch
- std::Vector<sol_t> _sol;
+ sol_t _sol;
// rtklib-like attribute to represent the satellite status for a given epoch
- std::vector<ssat_t> _ssat;
-
-
-
-
+ ssat_t _ssat;
};
}
#endif
+
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index cc0421b22732bbc4d4f41d7d6415b8bdb0175d6f..ea5f7445478c8c2ed1e9d3d01f90cdcd573cbb36 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -1,8 +1,8 @@
# driver source files
-SET(sources gnss_utils.cpp observation.cpp)
+SET(sources gnss_utils.cpp)
# application header files
-SET(headers ../include/gnss_utils.h ../include/observation.h)
+SET(headers ../include/gnss_utils.h)
# RTKLIB
INCLUDE (${PROJECT_SOURCE_DIR}/cmake_modules/FindRTKLIB.cmake)
diff --git a/src/examples/gnss_utils_test.cpp b/src/examples/gnss_utils_test.cpp
index 8fd4243b068ee72957dfd3bf6a81682e9b367b6a..6375e77e30b0b39d621c872197a56116e465eec0 100644
--- a/src/examples/gnss_utils_test.cpp
+++ b/src/examples/gnss_utils_test.cpp
@@ -1,5 +1,4 @@
#include "../../include/gnss_utils.h"
-#include "../../include/observation.h"
#include <iostream>
using namespace GNSSUtils;
@@ -11,7 +10,7 @@ int main(int argc, char *argv[])
std::cout << "GNSS Utils Library Example" << std::endl;
std::cout << "--------------------------" << std::endl;
// create a Receiver object
- GNSSUtils::Receiver test_rcv;
+ //GNSSUtils::Receiver test_rcv;
// create a Observation object
gtime_t ts={0};
@@ -19,22 +18,22 @@ int main(int argc, char *argv[])
std::vector<unsigned char> vu({q, w, e});
std::vector<double> vd({1., 2., 3.});
std::vector<float> vf({1., 2., 3.});
- Observation test_obs(ts, 1, 1, vu, vu, vu, vd, vd, vf);
+ //Observation test_obs(ts, 1, 1, vu, vu, vu, vd, vd, vf);
// Display current Observation
- std::cout << "Current observation (sat): " << "(" << test_obs.getSat() << ")" << std::endl;
- std::cout << "Current observation (SNR): " << "(" ;
+ //std::cout << "Current observation (sat): " << "(" << test_obs.getSat() << ")" << std::endl;
+ //std::cout << "Current observation (SNR): " << "(" ;
- for (unsigned char i=0; i < 3; ++i)
- std::cout << test_obs.getSNR()[i] << ", ";
- std::cout << ")" << std::endl;
+ //for (unsigned char i=0; i < 3; ++i)
+ //std::cout << test_obs.getSNR()[i] << ", ";
+ //std::cout << ")" << std::endl;
- obsd_t obs = test_obs.convert2rtk();
- std::cout << "Observation SNR in RTKLIB format: " << "(";
- for (unsigned char i=0; i < 3; ++i)
- std::cout << obs.SNR[i] << ", ";
- std::cout << ")" << std::endl;
+ //obsd_t obs = test_obs.convert2rtk();
+ //std::cout << "Observation SNR in RTKLIB format: " << "(";
+ //for (unsigned char i=0; i < 3; ++i)
+ //std::cout << obs.SNR[i] << ", ";
+ //std::cout << ")" << std::endl;
}
diff --git a/src/gnss_utils.cpp b/src/gnss_utils.cpp
index 16f173b9ee18f2a690af3dbd67574c852d222b89..eea7b3b8324f2b6d4e93078dde81d51184a2bc67 100644
--- a/src/gnss_utils.cpp
+++ b/src/gnss_utils.cpp
@@ -37,31 +37,88 @@ std::vector<obsd_t> Receiver::getObservations()
void Receiver::clearNavigation()
{
- _navVector.clear();
+ //_nav = NULL;
}
-void Receiver::pushNavigation(nav_t nav)
+void Receiver::setNavigation(nav_t nav)
{
- _navVector.push_back(nav);
+ _nav = nav;
}
-std::vector<nav_t> Receiver::getNavigation()
+nav_t Receiver::getNavigation()
{
- return this->_navVector;
+ return this->_nav;
}
+/* - Processing options - */
+void Receiver::clearOptions()
+{
+ //_opt = NULL;
+}
+
+void Receiver::setOptions(prcopt_t opt)
+{
+ _opt = opt;
+}
+
+prcopt_t Receiver::getOptions()
+{
+ return this->_opt;
+}
+/* - Solution - */
+
+void Receiver::clearSolution()
+{
+ //_sol = NULL;
+}
+
+void Receiver::setSolution(sol_t sol)
+{
+ _sol = sol;
+}
+
+sol_t Receiver::getSolution()
+{
+ return this->_sol;
+}
+
+
+/* - Satellite Status - */
+
+void Receiver::clearSatStatus()
+{
+ //_ssat = NULL;
+}
+
+void Receiver::setSatStatus(ssat_t ssat)
+{
+ _ssat = ssat;
+}
+
+ssat_t Receiver::getSatStatus()
+{
+ return this->_ssat;
+}
+
+/* - Compute Fix - */
-int Receiver::getSPP(double *azel, char *msg)
+int Receiver::computeSPP(double *azel, char *msg)
{
- obsd_t *obs = &this->_obsVector[0];
+ const obsd_t *obs = &this->_obsVector[0];
int n = this->_obsVector.size();
+ /*
+ const nav_t *nav = this->_nav;
+ const prcopt_t *opt = this->_opt;
+ sol_t *sol = this->_sol;
+ ssat_t *ssat = this->_ssat;
+ */
- return int pntpos(*obs, n, nav_t *nav, *opt, *sol, *azel, *ssat, *msg)
+ return pntpos(obs, n, &_nav, &_opt, &_sol, azel, &_ssat, msg);
}