From a04b6c3fa0aaa8e8dfb32ca89a76f101a7280efd Mon Sep 17 00:00:00 2001
From: PepMS <jmarti@iri.upc.edu>
Date: Mon, 11 May 2020 18:18:55 +0200
Subject: [PATCH] [modif] changed enum type
---
include/gnss_utils/receiver_raw_base.h | 20 ++++++++++----------
novatel_messages.txt | 25 -------------------------
src/receivers/novatel_raw.cpp | 8 +++-----
src/receivers/ublox_raw.cpp | 6 +-----
4 files changed, 14 insertions(+), 45 deletions(-)
delete mode 100644 novatel_messages.txt
diff --git a/include/gnss_utils/receiver_raw_base.h b/include/gnss_utils/receiver_raw_base.h
index 644eade..651a38c 100644
--- a/include/gnss_utils/receiver_raw_base.h
+++ b/include/gnss_utils/receiver_raw_base.h
@@ -8,16 +8,16 @@ 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
+ 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
diff --git a/novatel_messages.txt b/novatel_messages.txt
deleted file mode 100644
index 607888c..0000000
--- a/novatel_messages.txt
+++ /dev/null
@@ -1,25 +0,0 @@
------------- GALILEO -----------
-GALALMANAC: 1120 (OK RTK)
-GALGLOCK: 1121 (OK RTK)
-GALINAVEPHEMERIS: 1309 (same info with an offset in sent via E1 and E5)
-GALIONO: 1127 (OK RTK)
-
------------- GLONASS -----------
-GLOALMANAC: 718
-GLOCLOCK: 719
-GLOEPHEMERIS: 723 (OK RTK)
-
-
------------- GPS -----------
-GPALM: 217
-GPSEPHEM: 7 (L1 EPHEM) --> RAWEPHEM: 41 (OK RTK)
-
-
------------- SBAS -----------
-SBASALMANAC: 1425
-
------------- COMMON -----------
-RANGE: 43 (OK RTK)
-
-
-novatel.c L1061, there might be an error. Should move right 5 bits instead of 4 to know the message type.
diff --git a/src/receivers/novatel_raw.cpp b/src/receivers/novatel_raw.cpp
index d54256b..21487f7 100644
--- a/src/receivers/novatel_raw.cpp
+++ b/src/receivers/novatel_raw.cpp
@@ -26,23 +26,21 @@ 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";
nav_.copyEphemeris(raw_data_.nav);
- nav_.print();
+ nav_.uniqueNavigation();
break;
case NAV_SBAS: // SBAS
std::cout << "SBAS received!\n";
- // 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";
- // std::cout << "Almanac freed!\n";
+ nav_.copyIonUtc(raw_data_.nav);
break;
// Not handled messages
diff --git a/src/receivers/ublox_raw.cpp b/src/receivers/ublox_raw.cpp
index e3529ee..0d17bae 100644
--- a/src/receivers/ublox_raw.cpp
+++ b/src/receivers/ublox_raw.cpp
@@ -32,7 +32,6 @@ RawDataType UBloxRaw::addDataStream(const std::vector<uint8_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
@@ -41,14 +40,11 @@ RawDataType UBloxRaw::addDataStream(const std::vector<uint8_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
--
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