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Code Issues Releases Wiki Activity

Declare all Pvt_Solution data members private

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This commit is contained in:
Carles Fernandez
2017-08-16 12:45:00 +02:00
parent 6c19437520
commit c1bbdd74d4
9 changed files with 393 additions and 141 deletions
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60
src/algorithms/PVT/libs/nmea_printer.cc
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@@ -338,7 +338,7 @@ std::string Nmea_Printer::get_UTC_NMEA_time(boost::posix_time::ptime d_position_
std::string Nmea_Printer::get_GPRMC()
{
// Sample -> $GPRMC,161229.487,A,3723.2475,N,12158.3416,W,0.13,309.62,120598,*10
bool valid_fix = d_PVT_data->b_valid_position;
bool valid_fix = d_PVT_data->is_valid_position();
// ToDo: Compute speed and course over ground
double speed_over_ground_knots = 0;
@@ -354,7 +354,7 @@ std::string Nmea_Printer::get_GPRMC()
sentence_str << sentence_header;
//UTC Time: hhmmss.sss
sentence_str << get_UTC_NMEA_time(d_PVT_data->d_position_UTC_time);
sentence_str << get_UTC_NMEA_time(d_PVT_data->get_position_UTC_time());
//Status: A: data valid, V: data NOT valid
@@ -370,16 +370,16 @@ std::string Nmea_Printer::get_GPRMC()
if (print_avg_pos == true)
{
// Latitude ddmm.mmmm,(N or S)
sentence_str << "," << latitude_to_hm(d_PVT_data->d_avg_latitude_d);
sentence_str << "," << latitude_to_hm(d_PVT_data->get_avg_latitude());
// longitude dddmm.mmmm,(E or W)
sentence_str << "," << longitude_to_hm(d_PVT_data->d_avg_longitude_d);
sentence_str << "," << longitude_to_hm(d_PVT_data->get_avg_longitude());
}
else
{
// Latitude ddmm.mmmm,(N or S)
sentence_str << "," << latitude_to_hm(d_PVT_data->d_latitude_d);
sentence_str << "," << latitude_to_hm(d_PVT_data->get_latitude());
// longitude dddmm.mmmm,(E or W)
sentence_str << "," << longitude_to_hm(d_PVT_data->d_longitude_d);
sentence_str << "," << longitude_to_hm(d_PVT_data->get_longitude());
}
//Speed over ground (knots)
@@ -395,7 +395,7 @@ std::string Nmea_Printer::get_GPRMC()
sentence_str << course_over_ground_deg;
// Date ddmmyy
boost::gregorian::date sentence_date = d_PVT_data->d_position_UTC_time.date();
boost::gregorian::date sentence_date = d_PVT_data->get_position_UTC_time().date();
unsigned int year = sentence_date.year();
unsigned int day = sentence_date.day();
unsigned int month = sentence_date.month();
@@ -441,11 +441,11 @@ std::string Nmea_Printer::get_GPGSA()
{
//$GPGSA,A,3,07,02,26,27,09,04,15, , , , , ,1.8,1.0,1.5*33
// GSA-GNSS DOP and Active Satellites
bool valid_fix = d_PVT_data->b_valid_position;
int n_sats_used = d_PVT_data->d_valid_observations;
double pdop = d_PVT_data->d_PDOP;
double hdop = d_PVT_data->d_HDOP;
double vdop = d_PVT_data->d_VDOP;
bool valid_fix = d_PVT_data->is_valid_position();
int n_sats_used = d_PVT_data->get_num_valid_observations();
double pdop = d_PVT_data->get_PDOP();
double hdop = d_PVT_data->get_HDOP();
double vdop = d_PVT_data->get_VDOP();
std::stringstream sentence_str;
std::string sentence_header;
@@ -479,7 +479,7 @@ std::string Nmea_Printer::get_GPGSA()
{
sentence_str.width(2);
sentence_str.fill('0');
sentence_str << d_PVT_data->d_visible_satellites_IDs[i];
sentence_str << d_PVT_data->get_visible_satellites_ID(i);
}
}
@@ -527,7 +527,7 @@ std::string Nmea_Printer::get_GPGSV()
{
// GSV-GNSS Satellites in View
// Notice that NMEA 2.1 only supports 12 channels
int n_sats_used = d_PVT_data->d_valid_observations;
int n_sats_used = d_PVT_data->get_num_valid_observations();
std::stringstream sentence_str;
std::stringstream frame_str;
std::string sentence_header;
@@ -567,22 +567,22 @@ std::string Nmea_Printer::get_GPGSV()
frame_str << ",";
frame_str.width(2);
frame_str.fill('0');
frame_str << std::dec << d_PVT_data->d_visible_satellites_IDs[current_satellite];
frame_str << std::dec << d_PVT_data->get_visible_satellites_ID(current_satellite);
frame_str << ",";
frame_str.width(2);
frame_str.fill('0');
frame_str << std::dec << static_cast<int>(d_PVT_data->d_visible_satellites_El[current_satellite]);
frame_str << std::dec << static_cast<int>(d_PVT_data->get_visible_satellites_El(current_satellite));
frame_str << ",";
frame_str.width(3);
frame_str.fill('0');
frame_str << std::dec << static_cast<int>(d_PVT_data->d_visible_satellites_Az[current_satellite]);
frame_str << std::dec << static_cast<int>(d_PVT_data->get_visible_satellites_Az(current_satellite));
frame_str << ",";
frame_str.width(2);
frame_str.fill('0');
frame_str << std::dec << static_cast<int>(d_PVT_data->d_visible_satellites_CN0_dB[current_satellite]);
frame_str << std::dec << static_cast<int>(d_PVT_data->get_visible_satellites_CN0_dB(current_satellite));
current_satellite++;
@@ -617,18 +617,18 @@ std::string Nmea_Printer::get_GPGSV()
std::string Nmea_Printer::get_GPGGA()
{
//boost::posix_time::ptime d_position_UTC_time=boost::posix_time::microsec_clock::universal_time();
bool valid_fix = d_PVT_data->b_valid_position;
int n_channels = d_PVT_data->d_valid_observations;//d_nchannels
double hdop = d_PVT_data->d_HDOP;
bool valid_fix = d_PVT_data->is_valid_position();
int n_channels = d_PVT_data->get_num_valid_observations();//d_nchannels
double hdop = d_PVT_data->get_HDOP();
double MSL_altitude;
if (d_PVT_data->d_flag_averaging == true)
if (d_PVT_data->is_averaging() == true)
{
MSL_altitude = d_PVT_data->d_avg_height_m;
MSL_altitude = d_PVT_data->get_avg_height();
}
else
{
MSL_altitude = d_PVT_data->d_height_m;
MSL_altitude = d_PVT_data->get_height();
}
std::stringstream sentence_str;
@@ -639,21 +639,21 @@ std::string Nmea_Printer::get_GPGGA()
sentence_str << sentence_header;
//UTC Time: hhmmss.sss
sentence_str << get_UTC_NMEA_time(d_PVT_data->d_position_UTC_time);
sentence_str << get_UTC_NMEA_time(d_PVT_data->get_position_UTC_time());
if (d_PVT_data->d_flag_averaging == true)
if (d_PVT_data->is_averaging() == true)
{
// Latitude ddmm.mmmm,(N or S)
sentence_str << "," << latitude_to_hm(d_PVT_data->d_avg_latitude_d);
sentence_str << "," << latitude_to_hm(d_PVT_data->get_avg_latitude());
// longitude dddmm.mmmm,(E or W)
sentence_str << "," << longitude_to_hm(d_PVT_data->d_avg_longitude_d);
sentence_str << "," << longitude_to_hm(d_PVT_data->get_avg_longitude());
}
else
{
// Latitude ddmm.mmmm,(N or S)
sentence_str << "," << latitude_to_hm(d_PVT_data->d_latitude_d);
sentence_str << "," << latitude_to_hm(d_PVT_data->get_latitude());
// longitude dddmm.mmmm,(E or W)
sentence_str << "," << longitude_to_hm(d_PVT_data->d_longitude_d);
sentence_str << "," << longitude_to_hm(d_PVT_data->get_longitude());
}
// Position fix indicator