Skip to content
Snippets Groups Projects
Commit e95f57a5 authored by Joan Vallvé Navarro's avatar Joan Vallvé Navarro
Browse files

more exhaustive navigation print

parent 3786beb7
No related branches found
No related tags found
2 merge requests!20new tag,!19new tag
This commit is part of merge request !20. Comments created here will be created in the context of that merge request.
Hide whitespace changes
Inline Side-by-side
include/gnss_utils/utils/utils.h
+ 1
− 1
Edit View file @ e95f57a5
......@@ -24,7 +24,7 @@ void print(std::string& _msg);
template <typename T, size_t size>
void printArray(std::string name, T (&array)[size])
{
std::cout << name << ": [";
std::cout << name << "[";
for (int ii = 0; ii < size; ++ii)
{
if (std::is_same<T, char>::value or std::is_same<T, unsigned char>::value)
......
src/navigation.cpp
+ 96
− 71
Edit View file @ e95f57a5
......@@ -283,25 +283,16 @@ void Navigation::freeNavigationArrays()
void Navigation::print()
{
std::cout << "n: " << nav_.n << "\n";
std::cout << "ng: " << nav_.ng << "\n";
std::cout << "ns: " << nav_.ns << "\n";
std::cout << "ne: " << nav_.ne << "\n";
std::cout << "nc: " << nav_.nc << "\n";
std::cout << "na: " << nav_.na << "\n";
std::cout << "nt: " << nav_.nt << "\n";
std::cout << "nf: " << nav_.nf << "\n";
std::cout << "nmax: " << nav_.nmax << "\n";
std::cout << "ngmax: " << nav_.ngmax << "\n";
std::cout << "nsmax: " << nav_.nsmax << "\n";
std::cout << "nemax: " << nav_.nemax << "\n";
std::cout << "ncmax: " << nav_.ncmax << "\n";
std::cout << "namax: " << nav_.namax << "\n";
std::cout << "ntmax: " << nav_.ntmax << "\n";
std::cout << "nfmax: " << nav_.nfmax << "\n";
// TODO
std::cout << "n: " << nav_.n << "\t(nmax: " << nav_.nmax << ")\n";
std::cout << "ng: " << nav_.ng << "\t(nfmax: " << nav_.nfmax << ")\n";
std::cout << "ns: " << nav_.ns << "\t(nsmax: " << nav_.nsmax << ")\n";
std::cout << "ne: " << nav_.ne << "\t(nemax: " << nav_.nemax << ")\n";
std::cout << "nc: " << nav_.nc << "\t(ncmax: " << nav_.ncmax << ")\n";
std::cout << "na: " << nav_.na << "\t(namax: " << nav_.namax << ")\n";
std::cout << "nt: " << nav_.nt << "\t(ntmax: " << nav_.ntmax << ")\n";
std::cout << "nf: " << nav_.nf << "\t(nfmax: " << nav_.nfmax << ")\n";
// TODO
// eph_t *eph; /* GPS/QZS/GAL ephemeris */
// geph_t *geph; /* GLONASS ephemeris */
// seph_t *seph; /* SBAS ephemeris */
......@@ -312,68 +303,102 @@ void Navigation::print()
// fcbd_t *fcb; /* satellite fcb data */
// double lam[MAXSAT][NFREQ]; /* carrier wave lengths (m) */
printArray<double, ARRAY_SIZE(nav_.utc_gps)>("utc_gps: ", nav_.utc_gps);
printArray<double, ARRAY_SIZE(nav_.utc_glo)>("utc_glo: ", nav_.utc_glo);
printArray<double, ARRAY_SIZE(nav_.utc_qzs)>("utc_qzs: ", nav_.utc_qzs);
printArray<double, ARRAY_SIZE(nav_.utc_cmp)>("utc_cmp: ", nav_.utc_cmp);
printArray<double, ARRAY_SIZE(nav_.utc_irn)>("utc_irn: ", nav_.utc_irn);
printArray<double, ARRAY_SIZE(nav_.utc_sbs)>("utc_sbs: ", nav_.utc_sbs);
printArray<double, ARRAY_SIZE(nav_.ion_gps)>("ion_gps: ", nav_.ion_gps);
printArray<double, ARRAY_SIZE(nav_.ion_gal)>("ion_gal: ", nav_.ion_gal);
printArray<double, ARRAY_SIZE(nav_.ion_qzs)>("ion_qzs: ", nav_.ion_qzs);
printArray<double, ARRAY_SIZE(nav_.ion_cmp)>("ion_cmp: ", nav_.ion_cmp);
printArray<double, ARRAY_SIZE(nav_.ion_irn)>("ion_irn: ", nav_.ion_irn);
std::cout << "leaps: " << nav_.leaps << "\n";
std::cout << "sbssat: \n";
std::cout << "\tiodp: " << nav_.sbssat.iodp << "\n";
std::cout << "\tnsat: " << nav_.sbssat.nsat << "\n";
std::cout << "\ttlat: " << nav_.sbssat.tlat << "\n";
for (int i = 0; i < nav_.sbssat.nsat; i++)
printArray<double, ARRAY_SIZE(nav_.utc_gps)>("utc_gps: ", nav_.utc_gps);
printArray<double, ARRAY_SIZE(nav_.utc_glo)>("utc_glo: ", nav_.utc_glo);
printArray<double, ARRAY_SIZE(nav_.utc_gal)>("utc_gal: ", nav_.utc_gal);
printArray<double, ARRAY_SIZE(nav_.utc_qzs)>("utc_qzs: ", nav_.utc_qzs);
printArray<double, ARRAY_SIZE(nav_.utc_cmp)>("utc_cmp: ", nav_.utc_cmp);
printArray<double, ARRAY_SIZE(nav_.utc_irn)>("utc_irn: ", nav_.utc_irn);
printArray<double, ARRAY_SIZE(nav_.utc_sbs)>("utc_sbs: ", nav_.utc_sbs);
printArray<double, ARRAY_SIZE(nav_.ion_gps)>("ion_gps: ", nav_.ion_gps);
printArray<double, ARRAY_SIZE(nav_.ion_gal)>("ion_gal: ", nav_.ion_gal);
printArray<double, ARRAY_SIZE(nav_.ion_qzs)>("ion_qzs: ", nav_.ion_qzs);
printArray<double, ARRAY_SIZE(nav_.ion_cmp)>("ion_cmp: ", nav_.ion_cmp);
printArray<double, ARRAY_SIZE(nav_.ion_irn)>("ion_irn: ", nav_.ion_irn);
std::cout << "leaps: " << nav_.leaps << "\n";
std::cout << "lam: \n";
for (int i = 0; i < ARRAY2D_NROWS(nav_.lam); i++)
printArray<double, ARRAY2D_NCOLS(nav_.lam)>("\t", nav_.lam[i]);
std::cout << "cbias: \n";
for (int i = 0; i < ARRAY2D_NROWS(nav_.cbias); i++)
printArray<double, ARRAY2D_NCOLS(nav_.cbias)>("\t", nav_.cbias[i]);
printArray<double, ARRAY_SIZE(nav_.wlbias)> ("wlbias: ", nav_.wlbias);
printArray<double, ARRAY_SIZE(nav_.glo_cpbias)>("glo_cpbias: ", nav_.glo_cpbias);
printArray<char, ARRAY_SIZE(nav_.glo_fcn)> ("glo_fcn: ", nav_.glo_fcn);
std::cout << "pcvs: \n";
for (int i = 0; i < ARRAY_SIZE(nav_.pcvs); i++)
{
std::cout << "\tsat: " << i << "\n";
std::cout << "\t\tsat " << nav_.sbssat.sat[i].sat << "\n";
std::cout << "\t\tfcorr.t0 " << nav_.sbssat.sat[i].fcorr.t0.time << " + "<< nav_.sbssat.sat[i].fcorr.t0.sec << "\n";
std::cout << "\t\tfcorr.prc " << nav_.sbssat.sat[i].fcorr.prc << "\n";
std::cout << "\t\tfcorr.rrc " << nav_.sbssat.sat[i].fcorr.rrc << "\n";
std::cout << "\t\tfcorr.dt " << nav_.sbssat.sat[i].fcorr.dt << "\n";
std::cout << "\t\tfcorr.iodf " << nav_.sbssat.sat[i].fcorr.iodf << "\n";
std::cout << "\t\tfcorr.udre " << nav_.sbssat.sat[i].fcorr.udre << "\n";
std::cout << "\t\tfcorr.ai " << nav_.sbssat.sat[i].fcorr.ai << "\n";
std::cout << "\t\tlcorr.daf0 " << nav_.sbssat.sat[i].lcorr.daf0 << "\n";
std::cout << "\t\tlcorr.daf1 " << nav_.sbssat.sat[i].lcorr.daf1 << "\n";
std::cout << "\t\tlcorr.iode " << nav_.sbssat.sat[i].lcorr.iode << "\n";
std::cout << "\t\tlcorr.t0 " << nav_.sbssat.sat[i].lcorr.t0.time << " + "<< nav_.sbssat.sat[i].lcorr.t0.sec << "\n";
printArray<double, ARRAY_SIZE(nav_.sbssat.sat[i].lcorr.dpos)>("\t\tlcorr.dpos: ", nav_.sbssat.sat[i].lcorr.dpos);
printArray<double, ARRAY_SIZE(nav_.sbssat.sat[i].lcorr.dvel)>("\t\tlcorr.dvel: ", nav_.sbssat.sat[i].lcorr.dvel);
std::cout << "\tsat: " << nav_.pcvs[i].sat << "\n";
printArray<char, ARRAY_SIZE(nav_.pcvs[i].type)>("\t\ttype: ", nav_.pcvs[i].type);
printArray<char, ARRAY_SIZE(nav_.pcvs[i].code)>("\t\tcode: ", nav_.pcvs[i].code);
std::cout << "\t\tte: " << nav_.pcvs[i].te.time << " + "<< nav_.pcvs[i].te.sec << "\n";
std::cout << "\t\tts: " << nav_.pcvs[i].ts.time << " + "<< nav_.pcvs[i].ts.sec << "\n";
std::cout << "\t\toff: \n";
for (int j = 0; j < ARRAY2D_NROWS(nav_.pcvs[i].off); j++)
printArray<double, ARRAY2D_NCOLS(nav_.pcvs[i].off)>("\t\t\t", nav_.pcvs[i].off[j]);
std::cout << "\t\tvar: \n";
for (int j = 0; j < ARRAY2D_NROWS(nav_.pcvs[i].var); j++)
printArray<double, ARRAY2D_NCOLS(nav_.pcvs[i].var)>("\t\t\t", nav_.pcvs[i].var[j]);
}
if (nav_.sbssat.nsat == 0)
std::cout << "sbssat: empty\n";
else
{
std::cout << "sbssat: \n";
std::cout << "\tiodp: " << nav_.sbssat.iodp << "\n";
std::cout << "\tnsat: " << nav_.sbssat.nsat << "\n";
std::cout << "\ttlat: " << nav_.sbssat.tlat << "\n";
for (int i = 0; i < nav_.sbssat.nsat; i++)
{
std::cout << "\tsat: " << i << "\n";
std::cout << "\t\tsat " << nav_.sbssat.sat[i].sat << "\n";
std::cout << "\t\tfcorr.t0 " << nav_.sbssat.sat[i].fcorr.t0.time << " + "<< nav_.sbssat.sat[i].fcorr.t0.sec << "\n";
std::cout << "\t\tfcorr.prc " << nav_.sbssat.sat[i].fcorr.prc << "\n";
std::cout << "\t\tfcorr.rrc " << nav_.sbssat.sat[i].fcorr.rrc << "\n";
std::cout << "\t\tfcorr.dt " << nav_.sbssat.sat[i].fcorr.dt << "\n";
std::cout << "\t\tfcorr.iodf " << nav_.sbssat.sat[i].fcorr.iodf << "\n";
std::cout << "\t\tfcorr.udre " << nav_.sbssat.sat[i].fcorr.udre << "\n";
std::cout << "\t\tfcorr.ai " << nav_.sbssat.sat[i].fcorr.ai << "\n";
std::cout << "\t\tlcorr.daf0 " << nav_.sbssat.sat[i].lcorr.daf0 << "\n";
std::cout << "\t\tlcorr.daf1 " << nav_.sbssat.sat[i].lcorr.daf1 << "\n";
std::cout << "\t\tlcorr.iode " << nav_.sbssat.sat[i].lcorr.iode << "\n";
std::cout << "\t\tlcorr.t0 " << nav_.sbssat.sat[i].lcorr.t0.time << " + "<< nav_.sbssat.sat[i].lcorr.t0.sec << "\n";
printArray<double, ARRAY_SIZE(nav_.sbssat.sat[i].lcorr.dpos)>("\t\tlcorr.dpos: ", nav_.sbssat.sat[i].lcorr.dpos);
printArray<double, ARRAY_SIZE(nav_.sbssat.sat[i].lcorr.dvel)>("\t\tlcorr.dvel: ", nav_.sbssat.sat[i].lcorr.dvel);
}
}
for (int i = 0; i < MAXBAND + 1; i++)
{
std::cout << "sbsion: " << i << "\n";
std::cout << "\tiodi: " << nav_.sbsion[i].iodi << "\n";
std::cout << "\tnigp: " << nav_.sbsion[i].nigp << "\n";
for (int j = 0; j < nav_.sbsion[i].nigp; j++)
if (nav_.sbsion[i].nigp == 0)
std::cout << "sbsion: " << i << " empty\n";
else
{
std::cout << "\tigp: " << j << "\n";
std::cout << "\t\tt0: " << nav_.sbsion[i].igp[j].t0.time << " + "<< nav_.sbsion[i].igp[j].t0.sec << "\n";
std::cout << "\t\tlat: " << nav_.sbsion[i].igp[j].lat << "\n";
std::cout << "\t\tlon: " << nav_.sbsion[i].igp[j].lon << "\n";
std::cout << "\t\tgive: " << nav_.sbsion[i].igp[j].give << "\n";
std::cout << "\t\tdelay: " << nav_.sbsion[i].igp[j].delay << "\n";
std::cout << "sbsion: " << i << "\n";
std::cout << "\tiodi: " << nav_.sbsion[i].iodi << "\n";
std::cout << "\tnigp: " << nav_.sbsion[i].nigp << "\n";
for (int j = 0; j < nav_.sbsion[i].nigp; j++)
{
std::cout << "\tigp: " << j << "\n";
std::cout << "\t\tt0: " << nav_.sbsion[i].igp[j].t0.time << " + "<< nav_.sbsion[i].igp[j].t0.sec << "\n";
std::cout << "\t\tlat: " << nav_.sbsion[i].igp[j].lat << "\n";
std::cout << "\t\tlon: " << nav_.sbsion[i].igp[j].lon << "\n";
std::cout << "\t\tgive: " << nav_.sbsion[i].igp[j].give << "\n";
std::cout << "\t\tdelay: " << nav_.sbsion[i].igp[j].delay << "\n";
}
}
}
// TODO:
// pcv_t pcvs[MAXSAT]; /* satellite antenna pcv */
// double cbias[MAXSAT][3]; /* satellite dcb (0:p1-p2,1:p1-c1,2:p2-c2) (m) */
// double rbias[MAXRCV][2][3]; /* receiver dcb (0:p1-p2,1:p1-c1,2:p2-c2) (m) */
// double wlbias[MAXSAT]; /* wide-lane bias (cycle) */
// double glo_cpbias[4]; /* glonass code-phase bias {1C,1P,2C,2P} (m) */
// char glo_fcn[MAXPRNGLO+1]; /* glonass frequency channel number + 8 */
// ********** other not copied nav_t content: ***********
// erp_t erp; /* earth rotation parameters */
......
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment