diff --git a/CMakeLists.txt b/CMakeLists.txt
index b3beddcb57454472c4f278701a5db658da2e4ae9..9ec32eefac1059a24af1a451a0352f80f51d4e83 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -85,7 +85,9 @@ SET(SOURCES
src/navigation.cpp
src/snapshot.cpp
src/tdcp.cpp
- src/ublox_raw.cpp)
+ src/receiver_raw_base.cpp
+ src/receivers/ublox_raw.cpp
+ src/receivers/novatel_raw.cpp)
SET(RTKLIB_SRC
${RTKLIB_SRC_DIR}/pntpos.c
diff --git a/deps/RTKLIB b/deps/RTKLIB
index afa374367da135226a3995b7ede987456884e6c8..6ecf8cf16c00fbcf317129a036ba2203b0a85461 160000
--- a/deps/RTKLIB
+++ b/deps/RTKLIB
@@ -1 +1 @@
-Subproject commit afa374367da135226a3995b7ede987456884e6c8
+Subproject commit 6ecf8cf16c00fbcf317129a036ba2203b0a85461
diff --git a/include/gnss_utils/receiver_raw_base.h b/include/gnss_utils/receiver_raw_base.h
new file mode 100644
index 0000000000000000000000000000000000000000..651a38ca73d229ee82afa0bf62f0e706d33a5448
--- /dev/null
+++ b/include/gnss_utils/receiver_raw_base.h
@@ -0,0 +1,75 @@
+#ifndef INCLUDE_GNSS_UTILS_RECEIVER_RAW_BASE_H_
+#define INCLUDE_GNSS_UTILS_RECEIVER_RAW_BASE_H_
+
+#include "gnss_utils/observations.h"
+#include "gnss_utils/navigation.h"
+
+namespace GnssUtils
+{
+enum RawDataType : int
+{
+ NO = 0,
+ OBS = 1,
+ NAV_EPH = 2,
+ NAV_SBAS = 3,
+ NAV_ALM_IONUTC = 9,
+ NAV_ANT = 5,
+ NAV_DGPS = 7,
+ NAV_SSR = 10,
+ NAV_LEX = 31,
+ ERROR = -1
+};
+
+class ReceiverRawAbstract
+{
+public:
+ ReceiverRawAbstract();
+ ~ReceiverRawAbstract();
+
+ virtual RawDataType addDataStream(const std::vector<uint8_t>& data_stream) = 0;
+
+ const Observations& getObservations() const;
+ const Navigation& getNavigation() const;
+
+ Observations getObservations();
+ Navigation getNavigation();
+
+ RawDataType getRawDataType() const;
+
+protected:
+ void updateObservations();
+
+ raw_t raw_data_;
+ RawDataType raw_data_type_;
+
+ Observations obs_;
+ Navigation nav_;
+};
+
+inline const Observations& ReceiverRawAbstract::getObservations() const
+{
+ return obs_;
+}
+
+inline Observations ReceiverRawAbstract::getObservations()
+{
+ return obs_;
+}
+
+inline const Navigation& ReceiverRawAbstract::getNavigation() const
+{
+ return nav_;
+}
+
+inline Navigation ReceiverRawAbstract::getNavigation()
+{
+ return nav_;
+}
+
+inline RawDataType ReceiverRawAbstract::getRawDataType() const
+{
+ return raw_data_type_;
+}
+
+} // namespace GnssUtils
+#endif
diff --git a/include/gnss_utils/receivers/novatel_raw.h b/include/gnss_utils/receivers/novatel_raw.h
new file mode 100644
index 0000000000000000000000000000000000000000..5362ef28d3f2893b0f10276e32a05cf60de11b42
--- /dev/null
+++ b/include/gnss_utils/receivers/novatel_raw.h
@@ -0,0 +1,18 @@
+#ifndef INCLUDE_GNSS_UTILS_NOVATEL_RAW_H_
+#define INCLUDE_GNSS_UTILS_NOVATEL_RAW_H_
+
+#include "gnss_utils/receiver_raw_base.h"
+
+namespace GnssUtils
+{
+class NovatelRaw : public ReceiverRawAbstract
+{
+public:
+ NovatelRaw();
+ ~NovatelRaw();
+
+ RawDataType addDataStream(const std::vector<uint8_t>& data_stream);
+};
+} // namespace GnssUtils
+
+#endif
\ No newline at end of file
diff --git a/include/gnss_utils/receivers/ublox_raw.h b/include/gnss_utils/receivers/ublox_raw.h
new file mode 100644
index 0000000000000000000000000000000000000000..a1ba0c6a5f0ffc0849e8eb29b85080403e788a4f
--- /dev/null
+++ b/include/gnss_utils/receivers/ublox_raw.h
@@ -0,0 +1,22 @@
+#ifndef INCLUDE_GNSS_UTILS_UBLOX_RAW_H_
+#define INCLUDE_GNSS_UTILS_UBLOX_RAW_H_
+
+#include "gnss_utils/receiver_raw_base.h"
+
+namespace GnssUtils
+{
+class UBloxRaw : public ReceiverRawAbstract
+{
+public:
+ UBloxRaw();
+ ~UBloxRaw();
+
+ RawDataType addDataStream(const std::vector<uint8_t>& data_stream);
+
+private:
+
+};
+
+} // namespace GnssUtils
+
+#endif // INCLUDE_GNSS_UTILS_UBLOX_RAW_H_
diff --git a/include/gnss_utils/ublox_raw.h b/include/gnss_utils/ublox_raw.h
deleted file mode 100644
index f03bb73188d98b53f011b72e0cd1dd6932e76b70..0000000000000000000000000000000000000000
--- a/include/gnss_utils/ublox_raw.h
+++ /dev/null
@@ -1,64 +0,0 @@
-#ifndef INCLUDE_GNSS_UTILS_UBLOX_RAW_H_
-#define INCLUDE_GNSS_UTILS_UBLOX_RAW_H_
-
-#include "gnss_utils/observations.h"
-#include "gnss_utils/navigation.h"
-
-namespace GnssUtils
-{
-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
-{
-public:
- UBloxRaw();
- ~UBloxRaw();
-
- RawDataType addDataStream(const std::vector<u_int8_t>& data_stream);
-
- const Observations& getObservations();
- const Navigation& getNavigation();
-
- RawDataType getRawDataType() const;
-
-private:
- raw_t raw_data_;
-
- Observations obs_;
- Navigation nav_;
-
- RawDataType raw_data_type_;
-
- void updateObservations();
-};
-
-inline const Observations& UBloxRaw::getObservations()
-{
- return obs_;
-}
-
-inline const Navigation& UBloxRaw::getNavigation()
-{
- return nav_;
-}
-
-inline RawDataType UBloxRaw::getRawDataType() const
-{
- return raw_data_type_;
-}
-
-} // namespace GnssUtils
-
-#endif // INCLUDE_GNSS_UTILS_UBLOX_RAW_H_
diff --git a/include/gnss_utils/utils/rcv_position.h b/include/gnss_utils/utils/rcv_position.h
index 00ea4990e58e3b7f60a1b555004e01e068945c31..9ac529ce72cf96f98344dd16da856a2e9ff76fff 100644
--- a/include/gnss_utils/utils/rcv_position.h
+++ b/include/gnss_utils/utils/rcv_position.h
@@ -20,7 +20,7 @@
namespace GnssUtils
{
-ComputePosOutput computePos(const Observations& _observations, Navigation& _navigation, const prcopt_t& _prcopt);
+ComputePosOutput computePos(const Observations& _observations, const Navigation& _navigation, const prcopt_t& _prcopt);
// ComputePosOutput computePosOwn(const Observations & _observations,
// Navigation & _navigation,
diff --git a/src/receiver_raw_base.cpp b/src/receiver_raw_base.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..ea6e3b5e87b04f20a378158ceca59bf50c7d7f66
--- /dev/null
+++ b/src/receiver_raw_base.cpp
@@ -0,0 +1,29 @@
+#include "gnss_utils/receiver_raw_base.h"
+
+namespace GnssUtils
+{
+ReceiverRawAbstract::ReceiverRawAbstract() : raw_data_type_(NO)
+{
+ if (init_raw(&raw_data_, STRFMT_UBX) == 0)
+ {
+ assert("Failed when allocating memory for raw_t");
+ return;
+ }
+}
+
+ReceiverRawAbstract::~ReceiverRawAbstract()
+{
+ free_raw(&raw_data_);
+}
+
+void ReceiverRawAbstract::updateObservations()
+{
+ // sort and remove duplicated observations
+ sortobs(&raw_data_.obs);
+
+ obs_.clearObservations();
+ for (int ii = 0; ii < raw_data_.obs.n; ++ii)
+ obs_.addObservation(raw_data_.obs.data[ii]);
+}
+
+} // namespace GnssUtils
\ No newline at end of file
diff --git a/src/receivers/novatel_raw.cpp b/src/receivers/novatel_raw.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..21487f72d97b1321427865097faf352a608dc0da
--- /dev/null
+++ b/src/receivers/novatel_raw.cpp
@@ -0,0 +1,67 @@
+#include "gnss_utils/receivers/novatel_raw.h"
+
+using namespace GnssUtils;
+
+NovatelRaw::NovatelRaw()
+{
+}
+
+NovatelRaw::~NovatelRaw()
+{
+}
+
+RawDataType NovatelRaw::addDataStream(const std::vector<uint8_t>& data_stream)
+{
+
+ for (auto data_byte = data_stream.begin(); data_byte != data_stream.end(); ++data_byte)
+ {
+ raw_data_type_ = input_oem4(&raw_data_, (unsigned char)*data_byte);
+
+ switch (raw_data_type_)
+ {
+ case NO: //
+ // std::cout << "0 received!\n";
+ break;
+
+ case OBS: // Observations
+ std::cout << "Observations Novatel received!\n";
+ updateObservations();
+ break;
+
+ case NAV_EPH: // Ephemeris
+ std::cout << "Ephemeris received!\n";
+ nav_.copyEphemeris(raw_data_.nav);
+ nav_.uniqueNavigation();
+ break;
+
+ case NAV_SBAS: // SBAS
+ std::cout << "SBAS received!\n";
+ break;
+
+ case NAV_ALM_IONUTC: // Almanac and ion/utc parameters
+ std::cout << "Almanac and ion/utc parameters received!\n";
+ nav_.copyIonUtc(raw_data_.nav);
+ break;
+
+ // Not handled messages
+ case NAV_ANT:
+ std::cout << "NovatelRaw: Received antenna postion parameters. Not handled.\n";
+ break;
+ case NAV_DGPS:
+ std::cout << "NovatelRaw: Received dgps correction. Not handled.\n";
+ break;
+ case NAV_SSR:
+ std::cout << "NovatelRaw: Received ssr message. Not handled.\n";
+ break;
+ case NAV_LEX:
+ std::cout << "NovatelRaw: Received lex message. Not handled.\n";
+ break;
+ case ERROR:
+ std::cout << "NovatelRaw: Received error message. Not handled.\n";
+ break;
+ default:
+ std::cout << "NovatelRaw: Received unknown message. Not handled.\n";
+ break;
+ }
+ }
+}
\ No newline at end of file
diff --git a/src/ublox_raw.cpp b/src/receivers/ublox_raw.cpp
similarity index 64%
rename from src/ublox_raw.cpp
rename to src/receivers/ublox_raw.cpp
index 7c12df5f841df9fa312dd20bc02e94af93c80e5e..0d17bae737a629cd1490c01d4922d42fff007deb 100644
--- a/src/ublox_raw.cpp
+++ b/src/receivers/ublox_raw.cpp
@@ -1,22 +1,16 @@
-#include "gnss_utils/ublox_raw.h"
+#include "gnss_utils/receivers/ublox_raw.h"
using namespace GnssUtils;
-UBloxRaw::UBloxRaw() : raw_data_type_(NO)
+UBloxRaw::UBloxRaw()
{
- if (init_raw(&raw_data_, STRFMT_UBX) == 0)
- {
- assert("Failed when allocating memory for raw_t");
- return;
- }
-};
+}
UBloxRaw::~UBloxRaw()
{
- free_raw(&raw_data_);
-};
+}
-RawDataType UBloxRaw::addDataStream(const std::vector<u_int8_t>& data_stream)
+RawDataType UBloxRaw::addDataStream(const std::vector<uint8_t>& data_stream)
{
// Update type based on RTKLIB
for (auto data_byte = data_stream.begin(); data_byte != data_stream.end(); ++data_byte)
@@ -38,7 +32,6 @@ RawDataType UBloxRaw::addDataStream(const std::vector<u_int8_t>& data_stream)
case NAV_EPH: // Ephemeris
std::cout << "Ephemeris received!\n";
nav_.copyEphemeris(raw_data_.nav);
- // std::cout << "Ephemeris copied!\n";
break;
case NAV_SBAS: // SBAS
@@ -47,14 +40,11 @@ RawDataType UBloxRaw::addDataStream(const std::vector<u_int8_t>& data_stream)
// std::cout << "SBAS added!\n";
break;
- case NAV_ALM: // Almanac and ion/utc parameters
+ case NAV_ALM_IONUTC: // Almanac and ion/utc parameters
std::cout << "Almanac and ion/utc parameters received!\n";
nav_.freeAlmanac();
- // std::cout << "Almanac freed!\n";
nav_.copyAlmanac(raw_data_.nav);
- // std::cout << "Almanac copied!\n";
nav_.copyIonUtc(raw_data_.nav);
- // std::cout << "ION UTC copied!\n";
break;
// Not handled messages
@@ -81,18 +71,3 @@ RawDataType UBloxRaw::addDataStream(const std::vector<u_int8_t>& data_stream)
return raw_data_type_;
}
-
-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]);
-
- // std::cout << "--------------------------JUST AFTER!---------------------" << std::endl;
- // obs_.print();
-}
diff --git a/src/utils/rcv_position.cpp b/src/utils/rcv_position.cpp
index 77fa3130f39d28ec65f200558703b89189b23e76..8a2b450c1b9e8ca4d40cc0e19677f7821a2f5aa9 100644
--- a/src/utils/rcv_position.cpp
+++ b/src/utils/rcv_position.cpp
@@ -12,26 +12,26 @@ using namespace GnssUtils;
namespace GnssUtils
{
ComputePosOutput computePos(const GnssUtils::Observations& _observations,
- GnssUtils::Navigation& _navigation,
+ const GnssUtils::Navigation& _navigation,
const prcopt_t& _prcopt)
{
- // Remove duplicated satellites
- _navigation.uniqueNavigation();
-
// Define error msg
char msg[128] = "";
- // Remove duplicated satellites
- _navigation.uniqueNavigation();
-
GnssUtils::ComputePosOutput output;
sol_t sol;
sol = { { 0 } };
- std::vector<double> sat_elevations(2*_observations.size());
+ std::vector<double> sat_elevations(2 * _observations.size());
- output.pos_stat = pntpos(
- _observations.data(), _observations.size(), &(_navigation.getNavigation()), &_prcopt, &sol, sat_elevations.data(), NULL, msg);
+ output.pos_stat = pntpos(_observations.data(),
+ _observations.size(),
+ &(_navigation.getNavigation()),
+ &_prcopt,
+ &sol,
+ sat_elevations.data(),
+ NULL,
+ msg);
if (output.pos_stat == 0)
std::cout << "computePos: error in computing positioning, message: " << msg << "\n";
@@ -45,7 +45,9 @@ ComputePosOutput computePos(const GnssUtils::Observations& _observations,
// std::cout << "Covariance:\n" << output.pos_covar << "\n";
if (sol.dtr != NULL)
- output.rcv_bias = (Eigen::Matrix<double,6,1>() << sol.dtr[0], sol.dtr[1], sol.dtr[2], sol.dtr[3], sol.dtr[4], sol.dtr[5]).finished();
+ output.rcv_bias =
+ (Eigen::Matrix<double, 6, 1>() << sol.dtr[0], sol.dtr[1], sol.dtr[2], sol.dtr[3], sol.dtr[4], sol.dtr[5])
+ .finished();
output.type = sol.type;
output.stat = sol.stat;
output.ns = sol.ns;
@@ -54,7 +56,8 @@ ComputePosOutput computePos(const GnssUtils::Observations& _observations,
output.lat_lon = ecefToLatLonAlt(output.pos);
for (auto i = 0; i < _observations.size(); i++)
- output.sat_azel.emplace(_observations.getObservationByIdx(i).sat,Eigen::Vector2d(sat_elevations.at(2*i),sat_elevations.at(2*i+1)));
+ output.sat_azel.emplace(_observations.getObservationByIdx(i).sat,
+ Eigen::Vector2d(sat_elevations.at(2 * i), sat_elevations.at(2 * i + 1)));
return output;
}