diff --git a/CMakeLists.txt b/CMakeLists.txt
index a517b9294242d5e9b1781a41e4a3f365a0545d61..7fdfa2d7db4b06b68091b3877a52ca3fdda23502 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -37,6 +37,8 @@ else()
message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
endif()
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fpermissive")
+
ADD_SUBDIRECTORY(src)
FIND_PACKAGE(Doxygen)
diff --git a/cmake_modules/FindRTKLIB.cmake b/cmake_modules/FindRTKLIB.cmake
deleted file mode 100644
index 41289eba5411914f02094b1541e01d573682cd93..0000000000000000000000000000000000000000
--- a/cmake_modules/FindRTKLIB.cmake
+++ /dev/null
@@ -1,18 +0,0 @@
-#edit the following line to add the librarie's header files
-
-FIND_PATH(RTKLIB_INCLUDE_DIR rtklib.h /usr/include /usr/local/include ~/RTKLIB/src)
-GET_FILENAME_COMPONENT(RTK_LIB_PATH ${RTKLIB_INCLUDE_DIR} DIRECTORY)
-
-IF (RTKLIB_INCLUDE_DIR)
- SET(RTKLIB_FOUND TRUE)
-ENDIF (RTKLIB_INCLUDE_DIR)
-
-IF (RTKLIB_FOUND)
- IF (NOT RTKLIB_FOUND_QUIETLY)
- MESSAGE(STATUS "Found RTKLIB: ${RTKLIB_INCLUDE_DIR}")
- ENDIF (NOT RTKLIB_FOUND_QUIETLY)
-ELSE (RTKLIB_FOUND)
- IF (RTKLIB_FIND_REQUIRED)
- MESSAGE(FATAL_ERROR "Could not find RTKLIB")
- ENDIF (RTKLIB_FIND_REQUIRED)
-ENDIF (RTKLIB_FOUND)
diff --git a/include/gnss_utils.h b/include/gnss_utils.h
index 8cca79a3ede338d3bc14922fc471ccd2faa6b94f..805187ba9a67d5e5a2ce839d6b0dd3a3da14add5 100644
--- a/include/gnss_utils.h
+++ b/include/gnss_utils.h
@@ -7,7 +7,7 @@
extern "C"
{
-
+ #include "../deps/RTKLIB/src/rtklib.h"
}
namespace GNSSUtils
@@ -29,23 +29,23 @@ namespace GNSSUtils
void clearObservations();
void pushObservation(obsd_t obs);
-
+
std::vector<obsd_t> getObservations();
/* - Navigation - */
void clearNavigation();
-
+
void setNavigation(nav_t nav);
nav_t getNavigation();
-
+
/* - Processing Options - */
void clearOptions();
-
+
void setOptions(prcopt_t opt);
prcopt_t getOptions();
@@ -54,7 +54,7 @@ namespace GNSSUtils
/* - Solution - */
void clearSolution();
-
+
void setSolution(sol_t sol);
sol_t getSolution();
@@ -63,21 +63,21 @@ namespace GNSSUtils
/* - Satellite status - */
void clearSatStatus();
-
+
void setSatStatus(ssat_t ssat);
ssat_t getSatStatus();
-
+
/* - Compute Fix - */
int computeSPP(double *azel, char *msg);
-
+
private:
- // Private objects
+ // Private objects
// rtklib-like attribute to represent the different observation msgs for a given epoch
std::vector<obsd_t> _obsVector;
-
+
// rtklib-like attribute to represent the different navigation msgs for a given epoch
nav_t _nav;
@@ -96,4 +96,3 @@ namespace GNSSUtils
};
}
#endif
-
diff --git a/include/navigation.h b/include/navigation.h
index 34f16ebd2e44391467867949aa2e950b7a54c1f0..c0fed77669fb446003a38954e0b9f364e218a22d 100644
--- a/include/navigation.h
+++ b/include/navigation.h
@@ -8,7 +8,7 @@
extern "C"
{
- #include "/home/jlaplaza/RTKLIB/src/rtklib.h"
+ #include "../deps/RTKLIB/src/rtklib.h"
}
namespace GNSSUtils
@@ -25,7 +25,7 @@ namespace GNSSUtils
// Public methods
void clearNavigation();
-
+
void setNavigation(nav_t nav);
nav_t getNavigation();
@@ -86,7 +86,7 @@ namespace GNSSUtils
void allocateIonGal(int n); // Galileo
void deleteIonGal();
-
+
void allocateIonQZS(int n); // QZS
void deleteIonQZS();
@@ -125,13 +125,8 @@ namespace GNSSUtils
void deletesbsion();
-
-
-
-
-
private:
-
+
// rtklib-like attribute to represent the different navigation msgs for a given epoch
nav_t _nav;
@@ -141,4 +136,3 @@ namespace GNSSUtils
};
}
#endif
-
diff --git a/include/observations.h b/include/observations.h
index ca4eec2e2ea8e23b3a3031912039f9f3901419b7..16e230cbb0f9e09a5be19cdddf3a975fed8097ba 100644
--- a/include/observations.h
+++ b/include/observations.h
@@ -9,7 +9,7 @@
extern "C"
{
- #include "/home/jlaplaza/RTKLIB/src/rtklib.h"
+ #include "../deps/RTKLIB/src/rtklib.h"
}
namespace GNSSUtils
@@ -31,16 +31,16 @@ namespace GNSSUtils
void clearObservations();
void pushObservation(obsd_t obs);
-
+
std::vector<obsd_t> getObservations();
-
+
private:
- // Private objects
+ // Private objects
// rtklib-like attribute to represent the different observation msgs for a given epoch
std::vector<obsd_t> _obsVector;
-
+
// Private methods
@@ -48,4 +48,3 @@ namespace GNSSUtils
};
}
#endif
-
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 2e3538c4baef889967cd680ae8dfaab96f53e866..37da0b737235087e36b5fd17bac9ebfd52cb341a 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -1,17 +1,33 @@
# rtklib path
-set(rtklib_dir $ENV{HOME}/RTKLIB)
+set(rtklib_dir ../deps/RTKLIB)
set(rtklib_src_dir ${rtklib_dir}/src)
# driver source files
-SET(sources observations.cpp navigation.cpp)
-SET(rtklib_src ${rtklib_src_dir}/pntpos.c ${rtklib_src_dir}/rtkcmn.c ${rtklib_src_dir}/sbas.c ${rtklib_src_dir}/ephemeris.c ${rtklib_src_dir}/preceph.c ${rtklib_src_dir}/qzslex.c ${rtklib_src_dir}/rtcm.c ${rtklib_src_dir}/rtcm2.c ${rtklib_src_dir}/rtcm3.c ${rtklib_src_dir}/rtcm3e.c ${rtklib_src_dir}/ionex.c ${rtklib_src_dir}/rinex.c)
+SET(sources
+ gnss_utils.cpp
+ observations.cpp
+ navigation.cpp)
+
+SET(rtklib_src
+ ${rtklib_src_dir}/pntpos.c
+ ${rtklib_src_dir}/rtkcmn.c
+ ${rtklib_src_dir}/sbas.c
+ ${rtklib_src_dir}/ephemeris.c
+ ${rtklib_src_dir}/preceph.c
+ ${rtklib_src_dir}/qzslex.c
+ ${rtklib_src_dir}/rtcm.c
+ ${rtklib_src_dir}/rtcm2.c
+ ${rtklib_src_dir}/rtcm3.c
+ ${rtklib_src_dir}/rtcm3e.c
+ ${rtklib_src_dir}/ionex.c
+ ${rtklib_src_dir}/rinex.c)
# application header files
-SET(headers ../include/observations.h ../include/navigation.h)
-
-# RTKLIB
-INCLUDE (${PROJECT_SOURCE_DIR}/cmake_modules/FindRTKLIB.cmake)
+SET(headers
+ ../include/gnss_utils.h
+ ../include/observations.h
+ ../include/navigation.h)
# Eigen #######
FIND_PACKAGE(Eigen3 REQUIRED)
diff --git a/src/examples/gnss_utils_test.cpp b/src/examples/gnss_utils_test.cpp
index bad53127b0ca837df73099a072c9ec6a49c2f692..5d6f5a6558bef128fa74d2c715276a8e8b91a0c7 100644
--- a/src/examples/gnss_utils_test.cpp
+++ b/src/examples/gnss_utils_test.cpp
@@ -9,7 +9,7 @@
extern "C"
{
- #include "/home/jlaplaza/RTKLIB/src/rinex.c"
+ #include "../deps/RTKLIB/src/rinex.c"
}
using namespace GNSSUtils;
@@ -27,7 +27,7 @@ Observations createObs()
time_t te = {0};
gtime_t time = {te, seconds_frac};
-
+
obsd_t observation;
observation.time = time;
observation.sat = 25;
@@ -86,17 +86,17 @@ Navigation createNav(char * nav_path)
{
/* create a Navigation object */
Navigation navigation;
-
+
/* Load _nav attribute into nav variable */
- nav_t nav = navigation.getNavigation();
-
+ nav_t nav = navigation.getNavigation();
+
/* Open navigation file */
FILE *fp = fopen(nav_path,"r");
/* Set constellation mask -SYS=sys[,sys...]: select navi systems (sys=G:GPS,R:GLO,E:GAL,J:QZS,C:BDS,S:SBS) */
char* opt = "-SYS=G";
- /* Read navigation file, SYS can be SYS_ALL, SYS_GPS, SYS_SBS, SYS_GLO, SYS_GAL, ... */
+ /* Read navigation file, SYS can be SYS_ALL, SYS_GPS, SYS_SBS, SYS_GLO, SYS_GAL, ... */
if (readrnxnav(fp, opt, 3.03, SYS_ALL, &nav)){
std::cout << "Navigation file loaded" << std::endl;
std::cout << "GPS satellites: " << nav.n << std::endl;
@@ -126,7 +126,7 @@ Navigation createNav(char * nav_path)
}
-
+
navigation.setNavigation(nav);
std::cout << "Navigation message loaded to Navigation class." << std::endl;
@@ -151,13 +151,13 @@ int main(int argc, char *argv[])
std::cout << "_obsVector size: " << observations.getObservations().size() << std::endl;
// Create Navigation object
- Navigation navigation = createNav("/home/jlaplaza/gitlab/gnss_utils/src/examples/raw_201805171357.nav");
+ Navigation navigation = createNav("../src/examples/raw_201805171357.nav");
//readrnx()
/* Set processing options */
-
- prcopt_t prcopt = prcopt_default;
+
+ prcopt_t prcopt = prcopt_default;
prcopt.mode = PMODE_SINGLE;
prcopt.soltype = 0;
prcopt.nf = 1;
@@ -169,10 +169,10 @@ int main(int argc, char *argv[])
prcopt.sbascorr = SBSOPT_FCORR;
std::cout << "Processing options defined." << std::endl;
-
-
+
+
//Compute fix
-
+
int stat;
sol_t solb={{0}};