navigation copying elements working!

include/gnss_utils/navigation.h

@@ -69,8 +69,6 @@ class Navigation
 
         //////////////////////////////// nav UTILS //////////////////////////////////////
         template <typename T>
-        static void copyArrayElement(const T &new_element, T& element_spot);
-        template <typename T>
         static bool addToArray(const T &new_element, T *&array, int &n, int &nmax);
         template <typename T>
         static bool copyArray(const T *array_in, const int &n_in, T *&array_out, int &n_out, int &nmax_out);
@@ -252,115 +250,15 @@ inline void Navigation::freeAlmanac()
 }
 
 //////////////////////////////// nav UTILS //////////////////////////////////////
-template <typename T>
-inline void Navigation::copyArrayElement(const T &new_element, T& element_spot)
-{
-    element_spot = new_element;
-}
-
-//template <>
-//inline void Navigation::copyArrayElement<eph_t>(const eph_t& new_element, eph_t& element_spot)
-//{
-//    element_spot = new_element;
-//    std::cout << "tgd new element " << new_element.tgd << std::endl;
-//    std::cout << "before tgd element_spot " << element_spot.tgd << std::endl;
-//    double tgd[4];
-//    element_spot.tgd = tgd;
-//    std::cout << "tgd element_spot " << element_spot.tgd << std::endl;
-//}
-//template <>
-//inline void Navigation::copyArrayElement<geph_t>(const geph_t& new_element, geph_t& element_spot)
-//{
-//    element_spot = new_element;
-//    std::cout << "pos new element " << new_element.pos << std::endl;
-//    std::cout << "before pos element_spot " << element_spot.pos << std::endl;
-//    double pos[3];
-//    element_spot.pos = pos;
-//    std::cout << "pos element_spot " << element_spot.pos << std::endl;
-//}
-//template <>
-//inline void Navigation::copyArrayElement<seph_t>(const seph_t& new_element, seph_t& element_spot)
-//{
-//    element_spot = new_element;
-//    std::cout << "pos new element " << new_element.pos << std::endl;
-//    std::cout << "before pos element_spot " << element_spot.pos << std::endl;
-//    double pos[3];
-//    element_spot.pos = pos;
-//    std::cout << "pos element_spot " << element_spot.pos << std::endl;
-//}
-//template <>
-//inline void Navigation::copyArrayElement<peph_t>(const peph_t& new_element, peph_t& element_spot)
-//{
-//    element_spot = new_element;
-//    std::cout << "pos new element " << new_element.pos << std::endl;
-//    std::cout << "before pos element_spot " << element_spot.pos << std::endl;
-//    double pos[MAXSAT][4];
-//    element_spot.pos = pos;
-//    std::cout << "pos element_spot " << element_spot.pos << std::endl;
-//}
-//template <>
-//inline void Navigation::copyArrayElement<pclk_t>(const pclk_t& new_element, pclk_t& element_spot)
-//{
-//    element_spot = new_element;
-//    std::cout << "clk new element " << new_element.clk << std::endl;
-//    std::cout << "before clk element_spot " << element_spot.clk << std::endl;
-//    double clk[MAXSAT][1];
-//    element_spot.clk = clk;
-//    std::cout << "clk element_spot " << element_spot.clk << std::endl;
-//}
-template <>
-inline void Navigation::copyArrayElement<alm_t>(const alm_t& new_element, alm_t& element_spot)
-{
-    std::cout << "copyArrayElement<alm_t>\n";
-    std::cout << "new element: ";
-    std::cout << new_element.sat <<  std::endl;            /* satellite number */
-    std::cout << new_element.svh <<  std::endl;            /* sv health (0:ok) */
-    std::cout << new_element.svconf <<  std::endl;         /* as and sv config */
-    std::cout << new_element.week <<  std::endl;           /* GPS/QZS: gps week, GAL: galileo week */
-    //toa;        /* Toa */
-
-    std::cout << new_element.A <<  std::endl;
-    std::cout << new_element.e <<  std::endl;
-    std::cout << new_element.i0 <<  std::endl;
-    std::cout << new_element.OMG0 <<  std::endl;
-    std::cout << new_element.omg <<  std::endl;
-    std::cout << new_element.M0 <<  std::endl;
-    std::cout << new_element.OMGd <<  std::endl;
-    std::cout << new_element.toas <<  std::endl;        /* Toa (s) in week */
-    std::cout << new_element.f0 <<  std::endl;
-    std::cout << new_element.f1 << std::endl;
-
-    std::cout << "element_spot: " << std::endl;
-    std::cout << element_spot.sat <<  std::endl;            /* satellite number */
-    std::cout << element_spot.svh <<  std::endl;            /* sv health (0:ok) */
-    std::cout << element_spot.svconf <<  std::endl;         /* as and sv config */
-    std::cout << element_spot.week <<  std::endl;           /* GPS/QZS: gps week, GAL: galileo week */
-    //toa;        /* Toa */
-
-    std::cout << element_spot.A <<  std::endl;
-    std::cout << element_spot.e <<  std::endl;
-    std::cout << element_spot.i0 <<  std::endl;
-    std::cout << element_spot.OMG0 <<  std::endl;
-    std::cout << element_spot.omg <<  std::endl;
-    std::cout << element_spot.M0 <<  std::endl;
-    std::cout << element_spot.OMGd <<  std::endl;
-    std::cout << element_spot.toas <<  std::endl;        /* Toa (s) in week */
-    std::cout << element_spot.f0 <<  std::endl;
-    std::cout << element_spot.f1 << std::endl;
-
-    std::cout << "copying..";
-    element_spot = new_element;
-}
-
 template <typename T>
 inline bool Navigation::addToArray(const T &new_element, T *&array, int &n, int &nmax)
 {
-    std::cout << "addToArray: n = " << n << " nmax = " << nmax << "\n";
+    //std::cout << "addToArray: n = " << n << " nmax = " << nmax << "\n";
     // "inspired" from RTKLIB rinex.c
     T *array_ref;
     if (nmax <= n)
     {
-        std::cout << "addToArray: nmax <= n\n";
+        //std::cout << "addToArray: nmax <= n\n";
         nmax += 1024;
         if (!(array_ref = (T*)realloc(array, sizeof(T) * nmax)))
         {
@@ -370,36 +268,36 @@ inline bool Navigation::addToArray(const T &new_element, T *&array, int &n, int
             n = nmax = 0;
             return false;
         }
-        std::cout << "addToArray: assigning reallocated array\n";
+        //std::cout << "addToArray: assigning reallocated array\n";
         array = array_ref;
     }
-    std::cout << "addToArray: adding element " << n << "\n";
-    copyArrayElement<T>(new_element, array[n++]);
-    std::cout << "addToArray: added!\n";
+    //std::cout << "addToArray: adding element " << n << "\n";
+    array[n++] = new_element;
+    //std::cout << "addToArray: added!\n";
     return true;
 }
 
 template<typename T>
 inline bool Navigation::copyArray(const T *array_in, const int &n_in, T *&array_out, int &n_out, int &nmax_out)
 {
-    std::cout << "copyArray: " << n_in << " elements\n";
+    //std::cout << "copyArray: " << n_in << " elements\n";
     if (array_in == NULL)
         return false;
 
-    std::cout << "copyArray: array in not null\n";
+    //std::cout << "copyArray: array in not null\n";
 
     for (int i = 0; i<n_in; i++)
     {
-        std::cout << "copyArray: adding element " << i << "\n";
+        //std::cout << "copyArray: adding element " << i << "\n";
         if (!addToArray<T>(array_in[i], array_out, n_out, nmax_out))
         {
-            std::cout << "copyArray: failed to add..\n";
+            //std::cout << "copyArray: failed to add..\n";
             return false;
         }
-        std::cout << "copyArray: n_out = " << n_out << " nmax_out = " << nmax_out << "\n";
+        //std::cout << "copyArray: n_out = " << n_out << " nmax_out = " << nmax_out << "\n";
     }
 
-    std::cout << "copyArray: all copied\n";
+    //std::cout << "copyArray: all copied\n";
 
     return true;
 }

src/ublox_raw.cpp

@@ -79,9 +79,6 @@ RawDataType UBloxRaw::addDataStream(const std::vector<u_int8_t>& data_stream)
         }
     }
 
-
-    std::cout << "ALL BYTES DECODED!\n\n";
-
     return raw_data_type_;
 }