[modif] novatel_raw inherits from ReceiverRawAbstract

include/gnss_utils/receivers/novatel_raw.h

@@ -5,23 +5,13 @@
 
 namespace GnssUtils
 {
-class NovatelRaw
+class NovatelRaw : public ReceiverRawAbstract
 {
 public:
   NovatelRaw();
   ~NovatelRaw();
 
   RawDataType addDataStream(const std::vector<uint8_t>& data_stream);
-
-private:
-  raw_t raw_data_;
-
-  Observations obs_;
-  Navigation   nav_;
-
-  void updateObservations();
-
-  RawDataType raw_data_type_;
 };
 } // namespace GnssUtils
 

src/receivers/novatel_raw.cpp

@@ -2,7 +2,7 @@
 
 using namespace GnssUtils;
 
-NovatelRaw::NovatelRaw() : raw_data_type_(NO)
+NovatelRaw::NovatelRaw()
 {
 }
 
@@ -25,11 +25,14 @@ RawDataType NovatelRaw::addDataStream(const std::vector<uint8_t>& data_stream)
 
       case OBS:  // Observations
         std::cout << "Observations Novatel received!\n";
+        updateObservations();
+        // obs_.print();
         break;
 
       case NAV_EPH:  // Ephemeris
         std::cout << "Ephemeris received!\n";
-        // std::cout << "Ephemeris copied!\n";
+        nav_.copyEphemeris(raw_data_.nav);
+        nav_.print();
         break;
 
       case NAV_SBAS:  // SBAS
@@ -44,22 +47,22 @@ RawDataType NovatelRaw::addDataStream(const std::vector<uint8_t>& data_stream)
 
       // Not handled messages
       case NAV_ANT:
-        std::cout << "UBloxRaw: Received antenna postion parameters. Not handled.\n";
+        std::cout << "NovatelRaw: Received antenna postion parameters. Not handled.\n";
         break;
       case NAV_DGPS:
-        std::cout << "UBloxRaw: Received dgps correction. Not handled.\n";
+        std::cout << "NovatelRaw: Received dgps correction. Not handled.\n";
         break;
       case NAV_SSR:
-        std::cout << "UBloxRaw: Received ssr message. Not handled.\n";
+        std::cout << "NovatelRaw: Received ssr message. Not handled.\n";
         break;
       case NAV_LEX:
-        std::cout << "UBloxRaw: Received lex message. Not handled.\n";
+        std::cout << "NovatelRaw: Received lex message. Not handled.\n";
         break;
       case ERROR:
-        std::cout << "UBloxRaw: Received error message. Not handled.\n";
+        std::cout << "NovatelRaw: Received error message. Not handled.\n";
         break;
       default:
-        std::cout << "UBloxRaw: Received unknown message. Not handled.\n";
+        std::cout << "NovatelRaw: Received unknown message. Not handled.\n";
         break;
     }
   }