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Remove Pointer Type #104

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merged 1 commit into from
May 10, 2024
Merged

Remove Pointer Type #104

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30 changes: 15 additions & 15 deletions gpsd_client/src/client.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -224,23 +224,23 @@ class GPSDClient {
}

void process_data_navsat(struct gps_data_t* p) {
NavSatFixPtr fix(new NavSatFix);
NavSatFix fix;

/* TODO: Support SBAS and other GBAS. */

#if GPSD_API_MAJOR_VERSION >= 9
if (use_gps_time && (p->online.tv_sec || p->online.tv_nsec)) {
fix->header.stamp = ros::Time(p->fix.time.tv_sec, p->fix.time.tv_nsec);
fix.header.stamp = ros::Time(p->fix.time.tv_sec, p->fix.time.tv_nsec);
#else
if (use_gps_time && !std::isnan(p->fix.time)) {
fix->header.stamp = ros::Time(p->fix.time);
fix.header.stamp = ros::Time(p->fix.time);
#endif
}
else {
fix->header.stamp = ros::Time::now();
fix.header.stamp = ros::Time::now();
}

fix->header.frame_id = frame_id;
fix.header.frame_id = frame_id;

/* gpsmm pollutes the global namespace with STATUS_,
* so we need to use the ROS message's integer values
Expand All @@ -256,7 +256,7 @@ class GPSDClient {
#else
case STATUS_NO_FIX:
#endif
fix->status.status = 0; // NavSatStatus::STATUS_FIX or NavSatStatus::STATUS_GPS;
fix.status.status = 0; // NavSatStatus::STATUS_FIX or NavSatStatus::STATUS_GPS;
break;
// STATUS_DGPS_FIX was removed in API version 6 but re-added afterward and next renamed since the version 12
#if GPSD_API_MAJOR_VERSION != 6
Expand All @@ -265,16 +265,16 @@ class GPSDClient {
#else
case STATUS_DGPS_FIX:
#endif
fix->status.status = 2; // NavSatStatus::STATUS_GBAS_FIX;
fix.status.status = 2; // NavSatStatus::STATUS_GBAS_FIX;
break;
#endif
}

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

fix->latitude = p->fix.latitude;
fix->longitude = p->fix.longitude;
fix->altitude = p->fix.altitude;
fix.latitude = p->fix.latitude;
fix.longitude = p->fix.longitude;
fix.altitude = p->fix.altitude;

/* gpsd reports status=OK even when there is no current fix,
* as long as there has been a fix previously. Throw out these
Expand All @@ -286,11 +286,11 @@ class GPSDClient {
return;
}

fix->position_covariance[0] = p->fix.epx;
fix->position_covariance[4] = p->fix.epy;
fix->position_covariance[8] = p->fix.epv;
fix.position_covariance[0] = p->fix.epx;
fix.position_covariance[4] = p->fix.epy;
fix.position_covariance[8] = p->fix.epv;

fix->position_covariance_type = NavSatFix::COVARIANCE_TYPE_DIAGONAL_KNOWN;
fix.position_covariance_type = NavSatFix::COVARIANCE_TYPE_DIAGONAL_KNOWN;

navsat_fix_pub.publish(fix);
}
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