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RINEX printer now takes objects by reference instead of by value. Adding

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some const.
This commit is contained in:
Carles Fernandez 2014-09-14 19:08:32 +02:00
parent 60fea64b5e
commit 14ddc478a0
11 changed files with 98 additions and 100 deletions
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67
src/algorithms/PVT/libs/rinex_printer.cc
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@ -219,7 +219,7 @@ Rinex_Printer::~Rinex_Printer()
void Rinex_Printer::lengthCheck(std::string line) void Rinex_Printer::lengthCheck(const std::string& line)
{ {
if (line.length() != 80) if (line.length() != 80)
{ {
@ -391,7 +391,7 @@ std::string Rinex_Printer::getLocalTime()
} }
void Rinex_Printer::rinex_nav_header(std::ofstream& out, Galileo_Iono iono, Galileo_Utc_Model utc_model, Galileo_Almanac galileo_almanac) void Rinex_Printer::rinex_nav_header(std::ofstream& out, const Galileo_Iono& iono, const Galileo_Utc_Model& utc_model, const Galileo_Almanac& galileo_almanac)
{ {
std::string line; std::string line;
stringVersion = "3.02"; stringVersion = "3.02";
@ -501,7 +501,7 @@ void Rinex_Printer::rinex_nav_header(std::ofstream& out, Galileo_Iono iono, Gal
out << line << std::endl; out << line << std::endl;
} }
void Rinex_Printer::rinex_nav_header(std::ofstream& out, Gps_Iono iono, Gps_Utc_Model utc_model) void Rinex_Printer::rinex_nav_header(std::ofstream& out, const Gps_Iono& iono, const Gps_Utc_Model& utc_model)
{ {
std::string line; std::string line;
@ -680,7 +680,7 @@ void Rinex_Printer::rinex_nav_header(std::ofstream& out, Gps_Iono iono, Gps_Utc_
out << line << std::endl; out << line << std::endl;
} }
void Rinex_Printer::rinex_nav_header(std::ofstream& out, Gps_Iono gps_iono, Gps_Utc_Model gps_utc_model, Galileo_Iono galileo_iono, Galileo_Utc_Model galileo_utc_model, Galileo_Almanac galileo_almanac) void Rinex_Printer::rinex_nav_header(std::ofstream& out, const Gps_Iono& gps_iono, const Gps_Utc_Model& gps_utc_model, const Galileo_Iono& galileo_iono, const Galileo_Utc_Model& galileo_utc_model, const Galileo_Almanac& galileo_almanac)
{ {
std::string line; std::string line;
stringVersion = "3.02"; stringVersion = "3.02";
@ -922,12 +922,10 @@ void Rinex_Printer::rinex_sbs_header(std::ofstream& out)
} }
void Rinex_Printer::log_rinex_nav(std::ofstream& out, const std::map<int,Gps_Ephemeris>& eph_map)
void Rinex_Printer::log_rinex_nav(std::ofstream& out, std::map<int,Gps_Ephemeris> eph_map)
{ {
std::string line; std::string line;
std::map<int,Gps_Ephemeris>::iterator gps_ephemeris_iter; std::map<int,Gps_Ephemeris>::const_iterator gps_ephemeris_iter;
for(gps_ephemeris_iter = eph_map.begin(); for(gps_ephemeris_iter = eph_map.begin();
gps_ephemeris_iter != eph_map.end(); gps_ephemeris_iter != eph_map.end();
@ -1182,7 +1180,7 @@ void Rinex_Printer::log_rinex_nav(std::ofstream& out, std::map<int,Gps_Ephemeris
line += std::string(1, ' '); line += std::string(1, ' ');
double curve_fit_interval = 4; double curve_fit_interval = 4;
if (gps_ephemeris_iter->second.satelliteBlock[gps_ephemeris_iter->second.i_satellite_PRN].compare("IIA")) if (gps_ephemeris_iter->second.satelliteBlock.at(gps_ephemeris_iter->second.i_satellite_PRN).compare("IIA"))
{ {
// Block II/IIA (Table 20-XI IS-GPS-200E ) // Block II/IIA (Table 20-XI IS-GPS-200E )
if ( (gps_ephemeris_iter->second.d_IODC > 239) && (gps_ephemeris_iter->second.d_IODC < 248) ) curve_fit_interval = 8; if ( (gps_ephemeris_iter->second.d_IODC > 239) && (gps_ephemeris_iter->second.d_IODC < 248) ) curve_fit_interval = 8;
@ -1193,10 +1191,10 @@ void Rinex_Printer::log_rinex_nav(std::ofstream& out, std::map<int,Gps_Ephemeris
if ( gps_ephemeris_iter->second.d_IODC == 757 ) curve_fit_interval = 98; if ( gps_ephemeris_iter->second.d_IODC == 757 ) curve_fit_interval = 98;
} }
if ((gps_ephemeris_iter->second.satelliteBlock[gps_ephemeris_iter->second.i_satellite_PRN].compare("IIR") == 0) || if ((gps_ephemeris_iter->second.satelliteBlock.at(gps_ephemeris_iter->second.i_satellite_PRN).compare("IIR") == 0) ||
(gps_ephemeris_iter->second.satelliteBlock[gps_ephemeris_iter->second.i_satellite_PRN].compare("IIR-M") == 0) || (gps_ephemeris_iter->second.satelliteBlock.at(gps_ephemeris_iter->second.i_satellite_PRN).compare("IIR-M") == 0) ||
(gps_ephemeris_iter->second.satelliteBlock[gps_ephemeris_iter->second.i_satellite_PRN].compare("IIF") == 0) || (gps_ephemeris_iter->second.satelliteBlock.at(gps_ephemeris_iter->second.i_satellite_PRN).compare("IIF") == 0) ||
(gps_ephemeris_iter->second.satelliteBlock[gps_ephemeris_iter->second.i_satellite_PRN].compare("IIIA") == 0) ) (gps_ephemeris_iter->second.satelliteBlock.at(gps_ephemeris_iter->second.i_satellite_PRN).compare("IIIA") == 0) )
{ {
// Block IIR/IIR-M/IIF/IIIA (Table 20-XII IS-GPS-200E ) // Block IIR/IIR-M/IIF/IIIA (Table 20-XII IS-GPS-200E )
if ( (gps_ephemeris_iter->second.d_IODC > 239) && (gps_ephemeris_iter->second.d_IODC < 248)) curve_fit_interval = 8; if ( (gps_ephemeris_iter->second.d_IODC > 239) && (gps_ephemeris_iter->second.d_IODC < 248)) curve_fit_interval = 8;
@ -1219,11 +1217,10 @@ void Rinex_Printer::log_rinex_nav(std::ofstream& out, std::map<int,Gps_Ephemeris
} }
void Rinex_Printer::log_rinex_nav(std::ofstream& out, const std::map<int, Galileo_Ephemeris>& eph_map)
void Rinex_Printer::log_rinex_nav(std::ofstream& out, std::map<int, Galileo_Ephemeris> eph_map)
{ {
std::string line; std::string line;
std::map<int,Galileo_Ephemeris>::iterator galileo_ephemeris_iter; std::map<int,Galileo_Ephemeris>::const_iterator galileo_ephemeris_iter;
line.clear(); line.clear();
for(galileo_ephemeris_iter = eph_map.begin(); for(galileo_ephemeris_iter = eph_map.begin();
galileo_ephemeris_iter != eph_map.end(); galileo_ephemeris_iter != eph_map.end();
@ -1399,7 +1396,7 @@ void Rinex_Printer::log_rinex_nav(std::ofstream& out, std::map<int, Galileo_Ephe
} }
void Rinex_Printer::log_rinex_nav(std::ofstream& out, std::map<int, Gps_Ephemeris> gps_eph_map, std::map<int, Galileo_Ephemeris> galileo_eph_map) void Rinex_Printer::log_rinex_nav(std::ofstream& out, const std::map<int, Gps_Ephemeris>& gps_eph_map, const std::map<int, Galileo_Ephemeris>& galileo_eph_map)
{ {
version = 3; version = 3;
stringVersion = "3.02"; stringVersion = "3.02";
@ -1408,7 +1405,7 @@ void Rinex_Printer::log_rinex_nav(std::ofstream& out, std::map<int, Gps_Ephemeri
} }
void Rinex_Printer::rinex_obs_header(std::ofstream& out, Gps_Ephemeris eph, double d_TOW_first_observation) void Rinex_Printer::rinex_obs_header(std::ofstream& out, const Gps_Ephemeris& eph, const double d_TOW_first_observation)
{ {
std::string line; std::string line;
@ -1639,7 +1636,7 @@ void Rinex_Printer::rinex_obs_header(std::ofstream& out, Gps_Ephemeris eph, doub
// -------- TIME OF FIRST OBS // -------- TIME OF FIRST OBS
line.clear(); line.clear();
boost::posix_time::ptime p_gps_time = Rinex_Printer::compute_GPS_time(eph,d_TOW_first_observation); boost::posix_time::ptime p_gps_time = Rinex_Printer::compute_GPS_time(eph,d_TOW_first_observation);
std::string timestring=boost::posix_time::to_iso_string(p_gps_time); std::string timestring = boost::posix_time::to_iso_string(p_gps_time);
std::string year (timestring, 0, 4); std::string year (timestring, 0, 4);
std::string month (timestring, 4, 2); std::string month (timestring, 4, 2);
std::string day (timestring, 6, 2); std::string day (timestring, 6, 2);
@ -1671,7 +1668,7 @@ void Rinex_Printer::rinex_obs_header(std::ofstream& out, Gps_Ephemeris eph, doub
void Rinex_Printer::rinex_obs_header(std::ofstream& out, Galileo_Ephemeris eph, double d_TOW_first_observation) void Rinex_Printer::rinex_obs_header(std::ofstream& out, const Galileo_Ephemeris& eph, const double d_TOW_first_observation)
{ {
std::string line; std::string line;
version = 3; version = 3;
@ -1873,7 +1870,7 @@ void Rinex_Printer::rinex_obs_header(std::ofstream& out, Galileo_Ephemeris eph,
} }
void Rinex_Printer::rinex_obs_header(std::ofstream& out, Gps_Ephemeris gps_eph, Galileo_Ephemeris galileo_eph, double d_TOW_first_observation) void Rinex_Printer::rinex_obs_header(std::ofstream& out, const Gps_Ephemeris& gps_eph, const Galileo_Ephemeris& galileo_eph, const double d_TOW_first_observation)
{ {
std::string line; std::string line;
version = 3; version = 3;
@ -2101,7 +2098,7 @@ void Rinex_Printer::rinex_obs_header(std::ofstream& out, Gps_Ephemeris gps_eph,
out << line << std::endl; out << line << std::endl;
} }
void Rinex_Printer::log_rinex_obs(std::ofstream& out, Gps_Ephemeris eph, double obs_time, std::map<int,Gnss_Synchro> pseudoranges) void Rinex_Printer::log_rinex_obs(std::ofstream& out, const Gps_Ephemeris& eph, const double obs_time, const std::map<int,Gnss_Synchro>& pseudoranges)
{ {
// RINEX observations timestamps are GPS timestamps. // RINEX observations timestamps are GPS timestamps.
std::string line; std::string line;
@ -2154,7 +2151,7 @@ void Rinex_Printer::log_rinex_obs(std::ofstream& out, Gps_Ephemeris eph, double
line += std::string(1, '0'); line += std::string(1, '0');
//Number of satellites observed in current epoch //Number of satellites observed in current epoch
int numSatellitesObserved = 0; int numSatellitesObserved = 0;
std::map<int,Gnss_Synchro>::iterator pseudoranges_iter; std::map<int, Gnss_Synchro>::const_iterator pseudoranges_iter;
for(pseudoranges_iter = pseudoranges.begin(); for(pseudoranges_iter = pseudoranges.begin();
pseudoranges_iter != pseudoranges.end(); pseudoranges_iter != pseudoranges.end();
pseudoranges_iter++) pseudoranges_iter++)
@ -2239,7 +2236,7 @@ void Rinex_Printer::log_rinex_obs(std::ofstream& out, Gps_Ephemeris eph, double
//Number of satellites observed in current epoch //Number of satellites observed in current epoch
int numSatellitesObserved = 0; int numSatellitesObserved = 0;
std::map<int,Gnss_Synchro>::iterator pseudoranges_iter; std::map<int, Gnss_Synchro>::const_iterator pseudoranges_iter;
for(pseudoranges_iter = pseudoranges.begin(); for(pseudoranges_iter = pseudoranges.begin();
pseudoranges_iter != pseudoranges.end(); pseudoranges_iter != pseudoranges.end();
pseudoranges_iter++) pseudoranges_iter++)
@ -2296,7 +2293,7 @@ void Rinex_Printer::log_rinex_obs(std::ofstream& out, Gps_Ephemeris eph, double
void Rinex_Printer::log_rinex_obs(std::ofstream& out, Galileo_Ephemeris eph, double obs_time, std::map<int,Gnss_Synchro> pseudoranges) void Rinex_Printer::log_rinex_obs(std::ofstream& out, const Galileo_Ephemeris& eph, double obs_time, const std::map<int,Gnss_Synchro>& pseudoranges)
{ {
// RINEX observations timestamps are Galileo timestamps. // RINEX observations timestamps are Galileo timestamps.
// See http://gage14.upc.es/gLAB/HTML/Observation_Rinex_v3.01.html // See http://gage14.upc.es/gLAB/HTML/Observation_Rinex_v3.01.html
@ -2341,7 +2338,7 @@ void Rinex_Printer::log_rinex_obs(std::ofstream& out, Galileo_Ephemeris eph, dou
//Number of satellites observed in current epoch //Number of satellites observed in current epoch
int numSatellitesObserved = 0; int numSatellitesObserved = 0;
std::map<int,Gnss_Synchro>::iterator pseudoranges_iter; std::map<int, Gnss_Synchro>::const_iterator pseudoranges_iter;
for(pseudoranges_iter = pseudoranges.begin(); for(pseudoranges_iter = pseudoranges.begin();
pseudoranges_iter != pseudoranges.end(); pseudoranges_iter != pseudoranges.end();
pseudoranges_iter++) pseudoranges_iter++)
@ -2391,7 +2388,7 @@ void Rinex_Printer::log_rinex_obs(std::ofstream& out, Galileo_Ephemeris eph, dou
} }
void Rinex_Printer::log_rinex_obs(std::ofstream& out, Gps_Ephemeris gps_eph, Galileo_Ephemeris galileo_eph, double gps_obs_time, std::map<int,Gnss_Synchro> pseudoranges) void Rinex_Printer::log_rinex_obs(std::ofstream& out, const Gps_Ephemeris& gps_eph, const Galileo_Ephemeris& galileo_eph, double gps_obs_time, const std::map<int,Gnss_Synchro>& pseudoranges)
{ {
std::string line; std::string line;
@ -2433,7 +2430,7 @@ void Rinex_Printer::log_rinex_obs(std::ofstream& out, Gps_Ephemeris gps_eph, Gal
//Number of satellites observed in current epoch //Number of satellites observed in current epoch
int numSatellitesObserved = 0; int numSatellitesObserved = 0;
std::map<int,Gnss_Synchro>::iterator pseudoranges_iter; std::map<int,Gnss_Synchro>::const_iterator pseudoranges_iter;
for(pseudoranges_iter = pseudoranges.begin(); for(pseudoranges_iter = pseudoranges.begin();
pseudoranges_iter != pseudoranges.end(); pseudoranges_iter != pseudoranges.end();
pseudoranges_iter++) pseudoranges_iter++)
@ -2562,7 +2559,7 @@ void Rinex_Printer::to_date_time(int gps_week, int gps_tow, int &year, int &mont
void Rinex_Printer::log_rinex_sbs(std::ofstream& out, Sbas_Raw_Msg sbs_message) void Rinex_Printer::log_rinex_sbs(std::ofstream& out, const Sbas_Raw_Msg& sbs_message)
{ {
// line 1: PRN / EPOCH / RCVR // line 1: PRN / EPOCH / RCVR
std::stringstream line1; std::stringstream line1;
@ -2645,7 +2642,7 @@ void Rinex_Printer::log_rinex_sbs(std::ofstream& out, Sbas_Raw_Msg sbs_message)
} }
int Rinex_Printer::signalStrength(double snr) int Rinex_Printer::signalStrength(const double snr)
{ {
int ss; int ss;
ss = int ( std::min( std::max( int (floor(snr/6)) , 1), 9) ); ss = int ( std::min( std::max( int (floor(snr/6)) , 1), 9) );
@ -2653,31 +2650,31 @@ int Rinex_Printer::signalStrength(double snr)
} }
boost::posix_time::ptime Rinex_Printer::compute_UTC_time(Gps_Navigation_Message nav_msg) boost::posix_time::ptime Rinex_Printer::compute_UTC_time(const Gps_Navigation_Message& nav_msg)
{ {
// if we are processing a file -> wait to leap second to resolve the ambiguity else take the week from the local system time // if we are processing a file -> wait to leap second to resolve the ambiguity else take the week from the local system time
//: idea resolve the ambiguity with the leap second http://www.colorado.edu/geography/gcraft/notes/gps/gpseow.htm //: idea resolve the ambiguity with the leap second http://www.colorado.edu/geography/gcraft/notes/gps/gpseow.htm
double utc_t = nav_msg.utc_time(nav_msg.d_TOW); const double utc_t = nav_msg.utc_time(nav_msg.d_TOW);
boost::posix_time::time_duration t = boost::posix_time::millisec((utc_t + 604800 * static_cast<double>(nav_msg.i_GPS_week)) * 1000); boost::posix_time::time_duration t = boost::posix_time::millisec((utc_t + 604800 * static_cast<double>(nav_msg.i_GPS_week)) * 1000);
boost::posix_time::ptime p_time(boost::gregorian::date(1999, 8, 22), t); boost::posix_time::ptime p_time(boost::gregorian::date(1999, 8, 22), t);
return p_time; return p_time;
} }
boost::posix_time::ptime Rinex_Printer::compute_GPS_time(Gps_Ephemeris eph, double obs_time) boost::posix_time::ptime Rinex_Printer::compute_GPS_time(const Gps_Ephemeris& eph, const double obs_time)
{ {
// The RINEX v2.11 v3.00 format uses GPS time for the observations epoch, not UTC time, thus, no leap seconds needed here. // The RINEX v2.11 v3.00 format uses GPS time for the observations epoch, not UTC time, thus, no leap seconds needed here.
// (see Section 3 in http://igscb.jpl.nasa.gov/igscb/data/format/rinex211.txt) // (see Section 3 in http://igscb.jpl.nasa.gov/igscb/data/format/rinex211.txt)
// (see Pag. 17 in http://igscb.jpl.nasa.gov/igscb/data/format/rinex300.pdf) // (see Pag. 17 in http://igscb.jpl.nasa.gov/igscb/data/format/rinex300.pdf)
// --??? No time correction here, since it will be done in the RINEX processor // --??? No time correction here, since it will be done in the RINEX processor
double gps_t = obs_time; const double gps_t = obs_time;
boost::posix_time::time_duration t = boost::posix_time::millisec((gps_t + 604800 * static_cast<double>(eph.i_GPS_week % 1024)) * 1000); boost::posix_time::time_duration t = boost::posix_time::millisec((gps_t + 604800 * static_cast<double>(eph.i_GPS_week % 1024)) * 1000);
boost::posix_time::ptime p_time(boost::gregorian::date(1999, 8, 22), t); boost::posix_time::ptime p_time(boost::gregorian::date(1999, 8, 22), t);
return p_time; return p_time;
} }
boost::posix_time::ptime Rinex_Printer::compute_Galileo_time(Galileo_Ephemeris eph, double obs_time) boost::posix_time::ptime Rinex_Printer::compute_Galileo_time(const Galileo_Ephemeris& eph, const double obs_time)
{ {
// The RINEX v2.11 v3.00 format uses Galileo time for the observations epoch, not UTC time, thus, no leap seconds needed here. // The RINEX v2.11 v3.00 format uses Galileo time for the observations epoch, not UTC time, thus, no leap seconds needed here.
// (see Pag. 17 in http://igscb.jpl.nasa.gov/igscb/data/format/rinex301.pdf) // (see Pag. 17 in http://igscb.jpl.nasa.gov/igscb/data/format/rinex301.pdf)

38
src/algorithms/PVT/libs/rinex_printer.h
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@ -93,32 +93,32 @@ public:
/*! /*!
* \brief Generates the GPS Navigation Data header * \brief Generates the GPS Navigation Data header
*/ */
void rinex_nav_header(std::ofstream& out, Gps_Iono iono, Gps_Utc_Model utc_model); void rinex_nav_header(std::ofstream& out, const Gps_Iono& iono, const Gps_Utc_Model& utc_model);
/*! /*!
* \brief Generates the Galileo Navigation Data header * \brief Generates the Galileo Navigation Data header
*/ */
void rinex_nav_header(std::ofstream& out, Galileo_Iono iono, Galileo_Utc_Model utc_model, Galileo_Almanac galileo_almanac); void rinex_nav_header(std::ofstream& out, const Galileo_Iono& iono, const Galileo_Utc_Model& utc_model, const Galileo_Almanac& galileo_almanac);
/*! /*!
* \brief Generates the Mixed (GPS/Galileo) Navigation Data header * \brief Generates the Mixed (GPS/Galileo) Navigation Data header
*/ */
void rinex_nav_header(std::ofstream& out, Gps_Iono gps_iono, Gps_Utc_Model gps_utc_model, Galileo_Iono galileo_iono, Galileo_Utc_Model galileo_utc_model, Galileo_Almanac galileo_almanac); void rinex_nav_header(std::ofstream& out, const Gps_Iono& gps_iono, const Gps_Utc_Model& gps_utc_model, const Galileo_Iono& galileo_iono, const Galileo_Utc_Model& galileo_utc_model, const Galileo_Almanac& galileo_almanac);
/*! /*!
* \brief Generates the GPS Observation data header * \brief Generates the GPS Observation data header
*/ */
void rinex_obs_header(std::ofstream& out, Gps_Ephemeris eph, double d_TOW_first_observation); void rinex_obs_header(std::ofstream& out, const Gps_Ephemeris& eph, const double d_TOW_first_observation);
/*! /*!
* \brief Generates the Galileo Observation data header * \brief Generates the Galileo Observation data header
*/ */
void rinex_obs_header(std::ofstream& out, Galileo_Ephemeris eph, double d_TOW_first_observation); void rinex_obs_header(std::ofstream& out, const Galileo_Ephemeris& eph, const double d_TOW_first_observation);
/*! /*!
* \brief Generates the Mixed (GPS/Galileo) Observation data header * \brief Generates the Mixed (GPS/Galileo) Observation data header
*/ */
void rinex_obs_header(std::ofstream& out, Gps_Ephemeris gps_eph, Galileo_Ephemeris galileo_eph, double d_TOW_first_observation); void rinex_obs_header(std::ofstream& out, const Gps_Ephemeris& gps_eph, const Galileo_Ephemeris& galileo_eph, const double d_TOW_first_observation);
/*! /*!
* \brief Generates the SBAS raw data header * \brief Generates the SBAS raw data header
@ -128,47 +128,47 @@ public:
/*! /*!
* \brief Computes the UTC time and returns a boost::posix_time::ptime object * \brief Computes the UTC time and returns a boost::posix_time::ptime object
*/ */
boost::posix_time::ptime compute_UTC_time(Gps_Navigation_Message nav_msg); boost::posix_time::ptime compute_UTC_time(const Gps_Navigation_Message& nav_msg);
/*! /*!
* \brief Computes the GPS time and returns a boost::posix_time::ptime object * \brief Computes the GPS time and returns a boost::posix_time::ptime object
*/ */
boost::posix_time::ptime compute_GPS_time(Gps_Ephemeris eph, double obs_time); boost::posix_time::ptime compute_GPS_time(const Gps_Ephemeris& eph, const double obs_time);
/*! /*!
* \brief Computes the Galileo time and returns a boost::posix_time::ptime object * \brief Computes the Galileo time and returns a boost::posix_time::ptime object
*/ */
boost::posix_time::ptime compute_Galileo_time(Galileo_Ephemeris eph, double obs_time); boost::posix_time::ptime compute_Galileo_time(const Galileo_Ephemeris& eph, const double obs_time);
/*! /*!
* \brief Writes data from the GPS navigation message into the RINEX file * \brief Writes data from the GPS navigation message into the RINEX file
*/ */
void log_rinex_nav(std::ofstream& out, std::map<int,Gps_Ephemeris> eph_map); void log_rinex_nav(std::ofstream& out, const std::map<int, Gps_Ephemeris>& eph_map);
/*! /*!
* \brief Writes data from the Galileo navigation message into the RINEX file * \brief Writes data from the Galileo navigation message into the RINEX file
*/ */
void log_rinex_nav(std::ofstream& out, std::map<int, Galileo_Ephemeris> eph_map); void log_rinex_nav(std::ofstream& out, const std::map<int, Galileo_Ephemeris>& eph_map);
/*! /*!
* \brief Writes data from the Mixed (GPS/Galileo) navigation message into the RINEX file * \brief Writes data from the Mixed (GPS/Galileo) navigation message into the RINEX file
*/ */
void log_rinex_nav(std::ofstream& out, std::map<int, Gps_Ephemeris> gps_eph_map, std::map<int, Galileo_Ephemeris> galileo_eph_map); void log_rinex_nav(std::ofstream& out, const std::map<int, Gps_Ephemeris>& gps_eph_map, const std::map<int, Galileo_Ephemeris>& galileo_eph_map);
/*! /*!
* \brief Writes GPS observables into the RINEX file * \brief Writes GPS observables into the RINEX file
*/ */
void log_rinex_obs(std::ofstream& out, Gps_Ephemeris eph, double obs_time, std::map<int,Gnss_Synchro> pseudoranges); void log_rinex_obs(std::ofstream& out, const Gps_Ephemeris& eph, double obs_time, const std::map<int, Gnss_Synchro>& pseudoranges);
/*! /*!
* \brief Writes Galileo observables into the RINEX file * \brief Writes Galileo observables into the RINEX file
*/ */
void log_rinex_obs(std::ofstream& out, Galileo_Ephemeris eph, double obs_time, std::map<int,Gnss_Synchro> pseudoranges); void log_rinex_obs(std::ofstream& out, const Galileo_Ephemeris& eph, double obs_time, const std::map<int, Gnss_Synchro>& pseudoranges);
/*! /*!
* \brief Writes Galileo observables into the RINEX file * \brief Writes Galileo observables into the RINEX file
*/ */
void log_rinex_obs(std::ofstream& out, Gps_Ephemeris gps_eph, Galileo_Ephemeris galileo_eph, double gps_obs_time, std::map<int,Gnss_Synchro> pseudoranges); void log_rinex_obs(std::ofstream& out, const Gps_Ephemeris& gps_eph, const Galileo_Ephemeris& galileo_eph, const double gps_obs_time, const std::map<int, Gnss_Synchro>& pseudoranges);
/*! /*!
* \brief Represents GPS time in the date time format. Leap years are considered, but leap seconds are not. * \brief Represents GPS time in the date time format. Leap years are considered, but leap seconds are not.
@ -178,12 +178,12 @@ public:
/*! /*!
* \brief Writes raw SBAS messages into the RINEX file * \brief Writes raw SBAS messages into the RINEX file
*/ */
void log_rinex_sbs(std::ofstream& out, Sbas_Raw_Msg sbs_message); void log_rinex_sbs(std::ofstream& out, const Sbas_Raw_Msg& sbs_message);
std::map<std::string,std::string> satelliteSystem; //<! GPS, GLONASS, SBAS payload, Galileo or Compass std::map<std::string,std::string> satelliteSystem; //<! GPS, GLONASS, SBAS payload, Galileo or Compass
std::map<std::string,std::string> observationType; //<! PSEUDORANGE, CARRIER_PHASE, DOPPLER, SIGNAL_STRENGTH std::map<std::string,std::string> observationType; //<! PSEUDORANGE, CARRIER_PHASE, DOPPLER, SIGNAL_STRENGTH
std::map<std::string,std::string> observationCode; //<! GNSS observation descriptors std::map<std::string,std::string> observationCode; //<! GNSS observation descriptors
std::string stringVersion; //<! RINEX version (2.10/2.11 or 3.01) std::string stringVersion; //<! RINEX version (2.10/2.11 or 3.01/3.02)
private: private:
int version ; // RINEX version (2 for 2.10/2.11 and 3 for 3.01) int version ; // RINEX version (2 for 2.10/2.11 and 3 for 3.01)
@ -191,7 +191,7 @@ private:
/* /*
* Generation of RINEX signal strength indicators * Generation of RINEX signal strength indicators
*/ */
int signalStrength(double snr); int signalStrength(const double snr);
/* Creates RINEX file names according to the naming convention /* Creates RINEX file names according to the naming convention
* *
@ -225,7 +225,7 @@ private:
/* /*
* Checks that the line is 80 characters length * Checks that the line is 80 characters length
*/ */
void lengthCheck(std::string line); void lengthCheck(const std::string& line);
/* /*
* If the string is bigger than length, truncate it from the right. * If the string is bigger than length, truncate it from the right.

16
src/core/libs/string_converter.cc
View File

@ -6,7 +6,7 @@
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
* Copyright (C) 2010-2012 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2014 (see AUTHORS file for a list of contributors)
* *
* GNSS-SDR is a software defined Global Navigation * GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver * Satellite Systems receiver
@ -16,7 +16,7 @@
* GNSS-SDR is free software: you can redistribute it and/or modify * GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by * it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or * the Free Software Foundation, either version 3 of the License, or
* at your option) any later version. * (at your option) any later version.
* *
* GNSS-SDR is distributed in the hope that it will be useful, * GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of * but WITHOUT ANY WARRANTY; without even the implied warranty of
@ -40,7 +40,7 @@ StringConverter::StringConverter()
StringConverter::~StringConverter() StringConverter::~StringConverter()
{} {}
bool StringConverter::convert(std::string value, bool default_value) bool StringConverter::convert(const std::string& value, bool default_value)
{ {
if(value.compare("true") == 0) if(value.compare("true") == 0)
{ {
@ -57,7 +57,7 @@ bool StringConverter::convert(std::string value, bool default_value)
} }
long StringConverter::convert(std::string value, long default_value) long StringConverter::convert(const std::string& value, long default_value)
{ {
std::stringstream stream(value); std::stringstream stream(value);
@ -75,7 +75,7 @@ long StringConverter::convert(std::string value, long default_value)
} }
int StringConverter::convert(std::string value, int default_value) int StringConverter::convert(const std::string& value, int default_value)
{ {
std::stringstream stream(value); std::stringstream stream(value);
@ -95,7 +95,7 @@ int StringConverter::convert(std::string value, int default_value)
unsigned int StringConverter::convert(std::string value, unsigned int default_value) unsigned int StringConverter::convert(const std::string& value, unsigned int default_value)
{ {
std::stringstream stream(value); std::stringstream stream(value);
@ -115,7 +115,7 @@ unsigned int StringConverter::convert(std::string value, unsigned int default_va
float StringConverter::convert(std::string value, float default_value) float StringConverter::convert(const std::string& value, float default_value)
{ {
std::stringstream stream(value); std::stringstream stream(value);
@ -136,7 +136,7 @@ float StringConverter::convert(std::string value, float default_value)
double StringConverter::convert(std::string value, double default_value) double StringConverter::convert(const std::string& value, double default_value)
{ {
std::stringstream stream(value); std::stringstream stream(value);

16
src/core/libs/string_converter.h
View File

@ -6,7 +6,7 @@
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
* Copyright (C) 2010-2013 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2014 (see AUTHORS file for a list of contributors)
* *
* GNSS-SDR is a software defined Global Navigation * GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver * Satellite Systems receiver
@ -16,7 +16,7 @@
* GNSS-SDR is free software: you can redistribute it and/or modify * GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by * it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or * the Free Software Foundation, either version 3 of the License, or
* at your option) any later version. * (at your option) any later version.
* *
* GNSS-SDR is distributed in the hope that it will be useful, * GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of * but WITHOUT ANY WARRANTY; without even the implied warranty of
@ -45,12 +45,12 @@ public:
StringConverter(); StringConverter();
virtual ~StringConverter(); virtual ~StringConverter();
bool convert(std::string value, bool default_value); bool convert(const std::string& value, bool default_value);
long convert(std::string value, long default_value); long convert(const std::string& value, long default_value);
int convert(std::string value, int default_value); int convert(const std::string& value, int default_value);
unsigned int convert(std::string value, unsigned int default_value); unsigned int convert(const std::string& value, unsigned int default_value);
float convert(std::string value, float default_value); float convert(const std::string& value, float default_value);
double convert(std::string value, double default_value); double convert(const std::string& value, double default_value);
}; };
#endif /*GNSS_SDR_STRING_CONVERTER_H_*/ #endif /*GNSS_SDR_STRING_CONVERTER_H_*/

18
src/core/system_parameters/gnss_satellite.cc
View File

@ -5,7 +5,7 @@
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
* Copyright (C) 2010-2013 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2014 (see AUTHORS file for a list of contributors)
* *
* GNSS-SDR is a software defined Global Navigation * GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver * Satellite Systems receiver
@ -15,7 +15,7 @@
* GNSS-SDR is free software: you can redistribute it and/or modify * GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by * it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or * the Free Software Foundation, either version 3 of the License, or
* at your option) any later version. * (at your option) any later version.
* *
* GNSS-SDR is distributed in the hope that it will be useful, * GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of * but WITHOUT ANY WARRANTY; without even the implied warranty of
@ -41,7 +41,7 @@ Gnss_Satellite::Gnss_Satellite()
Gnss_Satellite::Gnss_Satellite(std::string system_, unsigned int PRN_) Gnss_Satellite::Gnss_Satellite(const std::string& system_, unsigned int PRN_)
{ {
Gnss_Satellite::reset(); Gnss_Satellite::reset();
Gnss_Satellite::set_system(system_); Gnss_Satellite::set_system(system_);
@ -61,12 +61,12 @@ Gnss_Satellite::~Gnss_Satellite()
void Gnss_Satellite::reset() void Gnss_Satellite::reset()
{ {
system_set = {"GPS", "GLONASS", "SBAS", "Galileo", "Compass"}; system_set = {"GPS", "GLONASS", "SBAS", "Galileo", "Beidou"};
satelliteSystem["GPS"] = "G"; satelliteSystem["GPS"] = "G";
satelliteSystem["GLONASS"] = "R"; satelliteSystem["GLONASS"] = "R";
satelliteSystem["SBAS"] = "S"; satelliteSystem["SBAS"] = "S";
satelliteSystem["Galileo"] = "E"; satelliteSystem["Galileo"] = "E";
satelliteSystem["Compass"] = "C"; satelliteSystem["Beidou"] = "C";
PRN = 0; PRN = 0;
system = std::string(""); system = std::string("");
block = std::string(""); block = std::string("");
@ -115,7 +115,7 @@ Gnss_Satellite& Gnss_Satellite::operator=(const Gnss_Satellite &rhs) {
}*/ }*/
void Gnss_Satellite::set_system(std::string system_) void Gnss_Satellite::set_system(const std::string& system_)
{ {
// Set the satellite system {"GPS", "GLONASS", "SBAS", "Galileo", "Compass"} // Set the satellite system {"GPS", "GLONASS", "SBAS", "Galileo", "Compass"}
std::set<std::string>::iterator it = system_set.find(system_); std::set<std::string>::iterator it = system_set.find(system_);
@ -126,7 +126,7 @@ void Gnss_Satellite::set_system(std::string system_)
} }
else else
{ {
DLOG(INFO) << "System " << system_ << " is not defined {GPS, GLONASS, SBAS, Galileo, Compass}. Initialization?"; DLOG(INFO) << "System " << system_ << " is not defined {GPS, GLONASS, SBAS, Galileo, Beidou}. Initialization?";
system = std::string(""); system = std::string("");
} }
} }
@ -217,7 +217,7 @@ unsigned int Gnss_Satellite::get_PRN() const
std::string Gnss_Satellite::get_system() const std::string Gnss_Satellite::get_system() const
{ {
// Get the satellite system {"GPS", "GLONASS", "SBAS", "Galileo", "Compass"} // Get the satellite system {"GPS", "GLONASS", "SBAS", "Galileo", "Beidou"}
std::string system_; std::string system_;
system_ = system; system_ = system;
return system_; return system_;
@ -246,7 +246,7 @@ std::string Gnss_Satellite::get_block() const
void Gnss_Satellite::set_block(std::string system_, unsigned int PRN_ ) void Gnss_Satellite::set_block(const std::string& system_, unsigned int PRN_ )
{ {
if (system_.compare("GPS") == 0) if (system_.compare("GPS") == 0)
{ {

12
src/core/system_parameters/gnss_satellite.h
View File

@ -5,7 +5,7 @@
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
* Copyright (C) 2010-2012 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2014 (see AUTHORS file for a list of contributors)
* *
* GNSS-SDR is a software defined Global Navigation * GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver * Satellite Systems receiver
@ -15,7 +15,7 @@
* GNSS-SDR is free software: you can redistribute it and/or modify * GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by * it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or * the Free Software Foundation, either version 3 of the License, or
* at your option) any later version. * (at your option) any later version.
* *
* GNSS-SDR is distributed in the hope that it will be useful, * GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of * but WITHOUT ANY WARRANTY; without even the implied warranty of
@ -48,10 +48,10 @@ class Gnss_Satellite
{ {
public: public:
Gnss_Satellite(); //!< Default Constructor. Gnss_Satellite(); //!< Default Constructor.
Gnss_Satellite(std::string system_, unsigned int PRN_); //!< Concrete GNSS satellite Constructor. Gnss_Satellite(const std::string& system_, unsigned int PRN_); //!< Concrete GNSS satellite Constructor.
~Gnss_Satellite(); //!< Default Destructor. ~Gnss_Satellite(); //!< Default Destructor.
unsigned int get_PRN() const; //!< Gets satellite's PRN unsigned int get_PRN() const; //!< Gets satellite's PRN
std::string get_system() const; //!< Gets the satellite system {"GPS", "GLONASS", "SBAS", "Galileo", "Compass"} std::string get_system() const; //!< Gets the satellite system {"GPS", "GLONASS", "SBAS", "Galileo", "Beidou"}
std::string get_system_short() const; //!< Gets the satellite system {"G", "R", "SBAS", "E", "C"} std::string get_system_short() const; //!< Gets the satellite system {"G", "R", "SBAS", "E", "C"}
std::string get_block() const; //!< Gets the satellite block. If GPS, returns {"IIA", "IIR", "IIR-M", "IIF"} std::string get_block() const; //!< Gets the satellite block. If GPS, returns {"IIA", "IIR", "IIR-M", "IIF"}
friend bool operator== (const Gnss_Satellite &, const Gnss_Satellite &); //!< operator== for comparison friend bool operator== (const Gnss_Satellite &, const Gnss_Satellite &); //!< operator== for comparison
@ -63,9 +63,9 @@ private:
std::map<std::string,std::string> satelliteSystem; std::map<std::string,std::string> satelliteSystem;
std::string block; std::string block;
signed int rf_link; signed int rf_link;
void set_system(std::string system); // Sets the satellite system {"GPS", "GLONASS", "SBAS", "Galileo", "Compass"}. void set_system(const std::string& system); // Sets the satellite system {"GPS", "GLONASS", "SBAS", "Galileo", "Beidou"}.
void set_PRN(unsigned int PRN); // Sets satellite's PRN void set_PRN(unsigned int PRN); // Sets satellite's PRN
void set_block(std::string system_, unsigned int PRN_ ); void set_block(const std::string& system_, unsigned int PRN_ );
std::set<std::string> system_set; // = {"GPS", "GLONASS", "SBAS", "Galileo", "Compass"}; std::set<std::string> system_set; // = {"GPS", "GLONASS", "SBAS", "Galileo", "Compass"};
void reset(); void reset();

7
src/core/system_parameters/gnss_signal.cc
View File

@ -6,7 +6,7 @@
* Javier Arribas, 2012. jarribas(at)cttc.es * Javier Arribas, 2012. jarribas(at)cttc.es
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
* Copyright (C) 2010-2012 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2014 (see AUTHORS file for a list of contributors)
* *
* GNSS-SDR is a software defined Global Navigation * GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver * Satellite Systems receiver
@ -16,7 +16,7 @@
* GNSS-SDR is free software: you can redistribute it and/or modify * GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by * it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or * the Free Software Foundation, either version 3 of the License, or
* at your option) any later version. * (at your option) any later version.
* *
* GNSS-SDR is distributed in the hope that it will be useful, * GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of * but WITHOUT ANY WARRANTY; without even the implied warranty of
@ -28,6 +28,7 @@
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
*/ */
#include "gnss_signal.h" #include "gnss_signal.h"
Gnss_Signal::Gnss_Signal() Gnss_Signal::Gnss_Signal()
@ -36,7 +37,7 @@ Gnss_Signal::Gnss_Signal()
} }
Gnss_Signal::Gnss_Signal(Gnss_Satellite satellite_,std::string signal_) Gnss_Signal::Gnss_Signal(const Gnss_Satellite& satellite_, const std::string& signal_)
{ {
this->satellite = satellite_; this->satellite = satellite_;
this->signal = signal_; this->signal = signal_;

6
src/core/system_parameters/gnss_signal.h
View File

@ -6,7 +6,7 @@
* Javier Arribas, 2012. jarribas(at)cttc.es * Javier Arribas, 2012. jarribas(at)cttc.es
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
* Copyright (C) 2010-2012 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2014 (see AUTHORS file for a list of contributors)
* *
* GNSS-SDR is a software defined Global Navigation * GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver * Satellite Systems receiver
@ -16,7 +16,7 @@
* GNSS-SDR is free software: you can redistribute it and/or modify * GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by * it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or * the Free Software Foundation, either version 3 of the License, or
* at your option) any later version. * (at your option) any later version.
* *
* GNSS-SDR is distributed in the hope that it will be useful, * GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of * but WITHOUT ANY WARRANTY; without even the implied warranty of
@ -47,7 +47,7 @@ private:
std::string signal; std::string signal;
public: public:
Gnss_Signal(); Gnss_Signal();
Gnss_Signal(Gnss_Satellite satellite_, std::string signal_); Gnss_Signal(const Gnss_Satellite& satellite_, const std::string& signal_);
~Gnss_Signal(); ~Gnss_Signal();
std::string get_signal() const; //!< Get the satellite system {"GPS", "GLONASS", "SBAS", "Galileo", "Compass"} std::string get_signal() const; //!< Get the satellite system {"GPS", "GLONASS", "SBAS", "Galileo", "Compass"}
Gnss_Satellite get_satellite() const; //!< Get the Gnss_Satellite associated to the signal Gnss_Satellite get_satellite() const; //!< Get the Gnss_Satellite associated to the signal

6
src/core/system_parameters/gps_navigation_message.cc
View File

@ -7,7 +7,7 @@
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
* Copyright (C) 2010-2013 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2014 (see AUTHORS file for a list of contributors)
* *
* GNSS-SDR is a software defined Global Navigation * GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver * Satellite Systems receiver
@ -17,7 +17,7 @@
* GNSS-SDR is free software: you can redistribute it and/or modify * GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by * it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or * the Free Software Foundation, either version 3 of the License, or
* at your option) any later version. * (at your option) any later version.
* *
* GNSS-SDR is distributed in the hope that it will be useful, * GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of * but WITHOUT ANY WARRANTY; without even the implied warranty of
@ -666,7 +666,7 @@ int Gps_Navigation_Message::subframe_decoder(char *subframe)
double Gps_Navigation_Message::utc_time(double gpstime_corrected) double Gps_Navigation_Message::utc_time(const double gpstime_corrected) const
{ {
double t_utc; double t_utc;
double t_utc_daytime; double t_utc_daytime;

4
src/core/system_parameters/gps_navigation_message.h
View File

@ -15,7 +15,7 @@
* GNSS-SDR is free software: you can redistribute it and/or modify * GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by * it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or * the Free Software Foundation, either version 3 of the License, or
* at your option) any later version. * (at your option) any later version.
* *
* GNSS-SDR is distributed in the hope that it will be useful, * GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of * but WITHOUT ANY WARRANTY; without even the implied warranty of
@ -231,7 +231,7 @@ public:
* \brief Computes the Coordinated Universal Time (UTC) and * \brief Computes the Coordinated Universal Time (UTC) and
* returns it in [s] (IS-GPS-200E, 20.3.3.5.2.4) * returns it in [s] (IS-GPS-200E, 20.3.3.5.2.4)
*/ */
double utc_time(double gpstime_corrected); double utc_time(const double gpstime_corrected) const;
bool satellite_validation(); bool satellite_validation();

8
src/core/system_parameters/sbas_telemetry_data.h
View File

@ -15,7 +15,7 @@
* GNSS-SDR is free software: you can redistribute it and/or modify * GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by * it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or * the Free Software Foundation, either version 3 of the License, or
* at your option) any later version. * (at your option) any later version.
* *
* GNSS-SDR is distributed in the hope that it will be useful, * GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of * but WITHOUT ANY WARRANTY; without even the implied warranty of
@ -64,14 +64,14 @@ public:
{ {
rx_time.relate(time_relation); rx_time.relate(time_relation);
} }
Sbas_Time get_rx_time_obj(){ return rx_time; } Sbas_Time get_rx_time_obj() const { return rx_time; }
int get_prn() { return i_prn; } int get_prn() const { return i_prn; }
std::vector<unsigned char> get_msg() const { return d_msg; } std::vector<unsigned char> get_msg() const { return d_msg; }
int get_preamble() int get_preamble()
{ {
return d_msg[0]; return d_msg[0];
} }
int get_msg_type() int get_msg_type() const
{ {
return d_msg[1] >> 2; return d_msg[1] >> 2;
} }