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address pull request comment changes
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@zainarnoldhexagon
zainarnoldhexagon committed May 15, 2024
1 parent 8bf47ed commit 398961c
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Showing 3 changed files with 27 additions and 35 deletions.
12 changes: 6 additions & 6 deletions examples/novatel/rangecmp/range_decompressor_example.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -144,10 +144,10 @@ int main(int argc, char* argv[])
OutputFileStream clUnknownBytesOFS(sInFilename.append(".UNKNOWN").c_str());
StreamReadStatus stReadStatus;

STATUS eFramerStatus = STATUS::UNKNOWN; // Framer Status
STATUS eDecompressStatus = STATUS::UNKNOWN; // Decompressor Status
STATUS eDecoderStatus = STATUS::UNKNOWN; // Decoder Status
STATUS eEncoderStatus = STATUS::UNKNOWN; // Encoder Status
auto eFramerStatus = STATUS::UNKNOWN; // Framer Status
auto eDecompressStatus = STATUS::UNKNOWN; // Decompressor Status
auto eDecoderStatus = STATUS::UNKNOWN; // Decoder Status
auto eEncoderStatus = STATUS::UNKNOWN; // Encoder Status

IntermediateHeader stHeader;
IntermediateMessage stMessage;
Expand All @@ -174,9 +174,9 @@ int main(int argc, char* argv[])
if (eDecoderStatus == STATUS::SUCCESS)
{
// Unknown PRNs are, by default, excluded from the range data.
bool bAllowUnknownObs = true;
bool bAllowInvalidObs = true;
eDecompressStatus =
clRangeDecompressor.Decompress(pucFrameBuffer, MAX_ASCII_MESSAGE_LENGTH, stMetaData, eEncodeFormat, bAllowUnknownObs);
clRangeDecompressor.Decompress(pucFrameBuffer, MAX_ASCII_MESSAGE_LENGTH, stMetaData, eEncodeFormat, bAllowInvalidObs);
if (eDecompressStatus == STATUS::SUCCESS)
{
uiCompletedMessages++;
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17 changes: 5 additions & 12 deletions src/decoders/novatel/api/rangecmp/range_decompressor.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -17,13 +17,6 @@

namespace novatel::edie::oem {

enum observation_status : int
{
invalid,
valid,
size
};

class RangeDecompressor
{
public:
Expand Down Expand Up @@ -62,7 +55,7 @@ class RangeDecompressor
void ShutdownLogger();

[[nodiscard]] STATUS Decompress(unsigned char* pucRangeMessageBuffer_, uint32_t uiRangeMessageBufferSize_, MetaDataStruct& stMetaData_,
ENCODEFORMAT eFormat_ = ENCODEFORMAT::UNSPECIFIED, bool bAllowUnknownObs = false);
ENCODEFORMAT eFormat_ = ENCODEFORMAT::UNSPECIFIED, bool bAllowInvalidObs = false);

private:
Filter clMyRangeCmpFilter;
Expand Down Expand Up @@ -109,13 +102,13 @@ class RangeDecompressor
template <bool bIsSecondary>
void DecompressDifferentialBlock(uint8_t** ppucDataPointer_, RangeCmp4MeasurementSignalBlockStruct& stDifferentialBlock_,
const RangeCmp4MeasurementSignalBlockStruct& stReferenceBlock_, double dSecondOffset_);
observation_status PopulateNextRangeData(RangeDataStruct& stRangeData_, const RangeCmp4MeasurementSignalBlockStruct& stBlock_,
const MetaDataStruct& stMetaData_, const ChannelTrackingStatusStruct& stChannelTrackingStatus_,
uint32_t uiPRN_, char cGLONASSFrequencyNumber_, bool bAllowUnknownObs);
bool PopulateNextRangeData(RangeDataStruct& stRangeData_, const RangeCmp4MeasurementSignalBlockStruct& stBlock_,
const MetaDataStruct& stMetaData_, const ChannelTrackingStatusStruct& stChannelTrackingStatus_, uint32_t uiPRN_,
char cGLONASSFrequencyNumber_, bool bAllowInvalidObs);

void RangeCmpToRange(const RangeCmpStruct& stRangeCmpMessage_, RangeStruct& stRangeMessage_);
void RangeCmp2ToRange(const RangeCmp2Struct& stRangeCmp2Message_, RangeStruct& stRangeMessage_, const MetaDataStruct& stMetaData_);
void RangeCmp4ToRange(uint8_t* pucCompressedData_, RangeStruct& stRangeMessage_, const MetaDataStruct& pstMetaData_, bool bAllowUnknownObs);
void RangeCmp4ToRange(uint8_t* pucCompressedData_, RangeStruct& stRangeMessage_, const MetaDataStruct& pstMetaData_, bool bAllowInvalidObs);

// Protected members to be accessed by test child classes.
protected:
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33 changes: 16 additions & 17 deletions src/decoders/novatel/src/rangecmp/range_decompressor.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -561,12 +561,11 @@ void RangeDecompressor::DecompressDifferentialBlock(uint8_t** ppucDataPointer_,
//! Populates a provided RangeData structure from the RANGECMP4 blocks
//! provided.
//------------------------------------------------------------------------------
observation_status RangeDecompressor::PopulateNextRangeData(RangeDataStruct& stRangeData_, const RangeCmp4MeasurementSignalBlockStruct& stBlock_,
const MetaDataStruct& stMetaData_,
const ChannelTrackingStatusStruct& stChannelTrackingStatus_, uint32_t uiPRN_,
char cGLONASSFrequencyNumber_, bool bAllowUnknownObs)
bool RangeDecompressor::PopulateNextRangeData(RangeDataStruct& stRangeData_, const RangeCmp4MeasurementSignalBlockStruct& stBlock_,
const MetaDataStruct& stMetaData_, const ChannelTrackingStatusStruct& stChannelTrackingStatus_,
uint32_t uiPRN_, char cGLONASSFrequencyNumber_, bool bAllowInvalidObs)
{
observation_status obsStatus = observation_status::valid;
bool bHasValidObsStatus = true;

double dSignalWavelength =
GetSignalWavelength(stChannelTrackingStatus_, static_cast<int16_t>(cGLONASSFrequencyNumber_ - GLONASS_FREQUENCY_NUMBER_OFFSET));
Expand All @@ -580,7 +579,7 @@ observation_status RangeDecompressor::PopulateNextRangeData(RangeDataStruct& stR
// [ https://docs.novatel.com/OEM7/Content/Logs/RANGECMP4.htm?Highlight=rangecmp4 - Measurement Block Header ]
// It is important to note however, that this would output the PRN as an actual valid Slot ID, which is not true.
// If we allow Unknown obs, then we do the calculation, otherwise, we default to 0
if (bAllowUnknownObs)
if (bAllowInvalidObs)
{
stRangeData_.usPRN = (GLONASS_SLOT_UNKNOWN_LOWER_LIMIT <= uiPRN_ && uiPRN_ <= GLONASS_SLOT_UNKNOWN_UPPER_LIMIT)
? 63 - static_cast<int16_t>(cGLONASSFrequencyNumber_)
Expand All @@ -591,7 +590,7 @@ observation_status RangeDecompressor::PopulateNextRangeData(RangeDataStruct& stR
stRangeData_.usPRN = (GLONASS_SLOT_UNKNOWN_LOWER_LIMIT <= uiPRN_ && uiPRN_ <= GLONASS_SLOT_UNKNOWN_UPPER_LIMIT)
? 0
: static_cast<uint16_t>(uiPRN_) + GLONASS_SLOT_OFFSET - 1;
if (stRangeData_.usPRN == 0) { obsStatus = observation_status::invalid; }
if (stRangeData_.usPRN == 0) { bHasValidObsStatus = false; }
}

break;
Expand Down Expand Up @@ -619,7 +618,7 @@ observation_status RangeDecompressor::PopulateNextRangeData(RangeDataStruct& stR
stRangeData_.fLockTime = DetermineRangeCmp4ObservationLocktime(
stMetaData_, stBlock_.ucLockTimeBitfield, stChannelTrackingStatus_.eSatelliteSystem, stChannelTrackingStatus_.eSignalType, uiPRN_);
stRangeData_.uiChannelTrackingStatus = stChannelTrackingStatus_.GetAsWord();
return obsStatus;
return bHasValidObsStatus;
}

//------------------------------------------------------------------------------
Expand Down Expand Up @@ -757,7 +756,7 @@ void RangeDecompressor::RangeCmp2ToRange(const RangeCmp2Struct& stRangeCmp2Messa
//! a RANGE message.
//------------------------------------------------------------------------------
void RangeDecompressor::RangeCmp4ToRange(uint8_t* pucCompressedData_, RangeStruct& stRangeMessage_, const MetaDataStruct& stMetaData_,
bool bAllowUnknownObs)
bool bAllowInvalidObs)
{
uint8_t* pucTempDataPointer = pucCompressedData_;

Expand Down Expand Up @@ -803,7 +802,7 @@ void RangeDecompressor::RangeCmp4ToRange(uint8_t* pucCompressedData_, RangeStruc
vSignals.clear();
vPRNs.clear();

observation_status obsStatus = observation_status::invalid;
bool bHasValidObsStatus = false;

// Does this message have any data for this satellite system?
if (usSatelliteSystems & (1UL << static_cast<uint16_t>(eCurrentSatelliteSystem)))
Expand Down Expand Up @@ -884,11 +883,11 @@ void RangeDecompressor::RangeCmp4ToRange(uint8_t* pucCompressedData_, RangeStruc
else { DecompressReferenceBlock<true>(&pucTempDataPointer, stMeasurementBlock, eMeasurementSource); }

stChannelTrackingStatus = ChannelTrackingStatusStruct(eCurrentSatelliteSystem, eCurrentSignalType, stMeasurementBlock);
obsStatus = PopulateNextRangeData((stRangeMessage_.astRangeData[stRangeMessage_.uiNumberOfObservations]),
stMeasurementBlock, stMetaData_, stChannelTrackingStatus, uiPRN,
stMeasurementBlockHeader.cGLONASSFrequencyNumber, bAllowUnknownObs);
bHasValidObsStatus = PopulateNextRangeData((stRangeMessage_.astRangeData[stRangeMessage_.uiNumberOfObservations]),
stMeasurementBlock, stMetaData_, stChannelTrackingStatus, uiPRN,
stMeasurementBlockHeader.cGLONASSFrequencyNumber, bAllowInvalidObs);

if (obsStatus) { stRangeMessage_.uiNumberOfObservations++; }
if (bHasValidObsStatus) { stRangeMessage_.uiNumberOfObservations++; }

// Always store reference blocks.
ammmMyReferenceBlocks[static_cast<uint32_t>(eMeasurementSource)][eCurrentSatelliteSystem][eCurrentSignalType][uiPRN] =
Expand Down Expand Up @@ -939,7 +938,7 @@ void RangeDecompressor::RangeCmp4ToRange(uint8_t* pucCompressedData_, RangeStruc
ChannelTrackingStatusStruct(eCurrentSatelliteSystem, eCurrentSignalType, stMeasurementBlock);
PopulateNextRangeData(stRangeMessage_.astRangeData[stRangeMessage_.uiNumberOfObservations++], stMeasurementBlock,
stMetaData_, stChannelTrackingStatus, uiPRN,
pstReferenceBlockHeader->cGLONASSFrequencyNumber, bAllowUnknownObs);
pstReferenceBlockHeader->cGLONASSFrequencyNumber, bAllowInvalidObs);
}
else
{
Expand Down Expand Up @@ -977,7 +976,7 @@ void RangeDecompressor::RangeCmp4ToRange(uint8_t* pucCompressedData_, RangeStruc
//------------------------------------------------------------------------------
STATUS
RangeDecompressor::Decompress(unsigned char* pucRangeMessageBuffer_, uint32_t uiRangeMessageBufferSize_, MetaDataStruct& stMetaData_,
ENCODEFORMAT eFormat_, bool bAllowUnknownObs)
ENCODEFORMAT eFormat_, bool bAllowInvalidObs)
{
// Check for buffer validity
if (!pucRangeMessageBuffer_) { return STATUS::NULL_PROVIDED; }
Expand Down Expand Up @@ -1021,7 +1020,7 @@ RangeDecompressor::Decompress(unsigned char* pucRangeMessageBuffer_, uint32_t ui
case RANGECMP_MSG_ID: RangeCmpToRange(*reinterpret_cast<RangeCmpStruct*>(pucTempMessagePointer), stRange); break;
case RANGECMP2_MSG_ID: RangeCmp2ToRange(*reinterpret_cast<RangeCmp2Struct*>(pucTempMessagePointer), stRange, stMetaData_); break;
case RANGECMP3_MSG_ID: [[fallthrough]];
case RANGECMP4_MSG_ID: RangeCmp4ToRange(pucTempMessagePointer, stRange, stMetaData_, bAllowUnknownObs); break;
case RANGECMP4_MSG_ID: RangeCmp4ToRange(pucTempMessagePointer, stRange, stMetaData_, bAllowInvalidObs); break;
default: return STATUS::UNSUPPORTED;
}

Expand Down

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