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Fix gps_client for xenial/kinetic #5

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Fix gps_client for xenial/kinetic #5

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ea4fdc0
Fix gps_client for xenial/kinetic
jackieokay Aug 30, 2016
fd99f2a
correct major version
jackieokay Aug 31, 2016
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1 change: 1 addition & 0 deletions gpsd_client/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -26,6 +26,7 @@ catkin_package()

include_directories(${catkin_INCLUDE_DIRS} ${libgps_INCLUDE_DIRS})
add_executable(${PROJECT_NAME} src/client.cpp)
add_dependencies(${PROJECT_NAME} gps_common_generate_messages_cpp)
target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} ${libgps_LIBRARIES})

#############
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16 changes: 16 additions & 0 deletions gpsd_client/src/client.cpp
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Expand Up @@ -110,7 +110,11 @@ class GPSDClient {

status.satellite_used_prn.resize(status.satellites_used);
for (int i = 0; i < status.satellites_used; ++i) {
#if GPSD_API_MAJOR_VERSION >= 6
status.satellite_used_prn[i] = p->skyview[i].used;
#else
status.satellite_used_prn[i] = p->used[i];
#endif
}

status.satellites_visible = SATS_VISIBLE;
Expand All @@ -121,18 +125,28 @@ class GPSDClient {
status.satellite_visible_snr.resize(status.satellites_visible);

for (int i = 0; i < SATS_VISIBLE; ++i) {
#if GPSD_API_MAJOR_VERSION >= 6
status.satellite_visible_prn[i] = p->skyview[i].PRN;
status.satellite_visible_z[i] = p->skyview[i].elevation;
status.satellite_visible_azimuth[i] = p->skyview[i].azimuth;
status.satellite_visible_snr[i] = p->skyview[i].ss;
#else
status.satellite_visible_prn[i] = p->PRN[i];
status.satellite_visible_z[i] = p->elevation[i];
status.satellite_visible_azimuth[i] = p->azimuth[i];
status.satellite_visible_snr[i] = p->ss[i];
#endif
}

if ((p->status & STATUS_FIX) && !(check_fix_by_variance && isnan(p->fix.epx))) {
status.status = 0; // FIXME: gpsmm puts its constants in the global
// namespace, so `GPSStatus::STATUS_FIX' is illegal.

#if GPSD_API_MAJOR_VERSION < 6
// STATUS_DPGS_FIX is not in GPSD 6.x.x
if (p->status & STATUS_DGPS_FIX)
status.status |= 18; // same here
#endif

fix.time = p->fix.time;
fix.latitude = p->fix.latitude;
Expand Down Expand Up @@ -194,9 +208,11 @@ class GPSDClient {
case STATUS_FIX:
fix->status.status = 0; // NavSatStatus::STATUS_FIX;
break;
#if GPSD_API_MAJOR_VERSION < 6
case STATUS_DGPS_FIX:
fix->status.status = 2; // NavSatStatus::STATUS_GBAS_FIX;
break;
#endif
}

fix->status.service = NavSatStatus::SERVICE_GPS;
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