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ublox_msg.cc: simplify map operations in gen_nav_data (#2004)

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* simplify map operations in gen_nav_data

* same as before

* rebase master
This commit is contained in:
Dean Lee
2020-12-20 06:13:31 +08:00
committed by GitHub
parent d6caca9433
commit 3bf43bd7e3
1 changed files with 9 additions and 7 deletions
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selfdrive/locationd/ublox_msg.cc
+9 -7
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@@ -282,13 +282,15 @@ kj::Array<capnp::word> UbloxMsgParser::gen_nav_data() {
for(int i = 0; i < msg->numWords;i++)
words.push_back(measurements[i].dwrd);
if(subframeId == 1) {
nav_frame_buffer[msg->gnssId][msg->svid] = subframes_map();
nav_frame_buffer[msg->gnssId][msg->svid][subframeId] = words;
} else if(nav_frame_buffer[msg->gnssId][msg->svid].find(subframeId-1) != nav_frame_buffer[msg->gnssId][msg->svid].end())
nav_frame_buffer[msg->gnssId][msg->svid][subframeId] = words;
if(nav_frame_buffer[msg->gnssId][msg->svid].size() == 5) {
EphemerisData ephem_data(msg->svid, nav_frame_buffer[msg->gnssId][msg->svid]);
subframes_map &map = nav_frame_buffer[msg->gnssId][msg->svid];
if (subframeId == 1) {
map = subframes_map();
map[subframeId] = words;
} else if (map.find(subframeId-1) != map.end()) {
map[subframeId] = words;
}
if(map.size() == 5) {
EphemerisData ephem_data(msg->svid, map);
MessageBuilder msg_builder;
auto eph = msg_builder.initEvent().initUbloxGnss().initEphemeris();
eph.setSvId(ephem_data.svId);