Update library

Findgnss_utils.cmake

+#edit the following line to add the librarie's header files
+FIND_PATH(gnss_utils_INCLUDE_DIR gnss_utils.h obervation.h /usr/include/iridrivers /usr/local/lib)
+
+FIND_LIBRARY(gnss_utils_LIBRARY
+    NAMES gnss_utils
+    PATHS /usr/lib /usr/local/lib /usr/local/lib) 
+
+IF (gnss_utils_INCLUDE_DIR AND gnss_utils_LIBRARY)
+   SET(gnss_utils_FOUND TRUE)
+ENDIF (gnss_utils_INCLUDE_DIR AND gnss_utils_LIBRARY)
+
+IF (gnss_utils_FOUND)
+   IF (NOT gnss_utils_FIND_QUIETLY)
+      MESSAGE(STATUS "Found gnss_utils: ${gnss_utils_LIBRARY}")
+   ENDIF (NOT gnss_utils_FIND_QUIETLY)
+ELSE (gnss_utils_FOUND)
+   IF (gnss_utils_FIND_REQUIRED)
+      MESSAGE(FATAL_ERROR "Could not find gnss_utils")
+   ENDIF (gnss_utils_FIND_REQUIRED)
+ENDIF (gnss_utils_FOUND)
+

include/gnss_utils.h

@@ -5,54 +5,82 @@
 #include <iostream>
 #include <memory>
 
+#include "observation.h"
+
 extern "C"
 {
-    #include "/home/jmarti/RTKLIB/src/rtklib.h"
+    #include "/home/jlaplaza/RTKLIB/src/rtklib.h"
 }
 
 namespace GNSSUtils
 {
-  class Observation
-  {
-  public:
-    // Constructor
-    Observation();
-
-    // Constructor overloaded
-    Observation(int sat, int rcv);
-
-    // Destructor
-    ~Observation();
-
-    // Public API
-
-  private:
-    gtime_t _time;           // Receiver sampling time
-    int _sat;      // Satellite number
-    int _rcv;      // Receiver number
-    std::vector<int> _SNR;
-    std::vector<int> _LLI;
-    std::vector<int> _code;
-    std::vector<double> _L;
-    std::vector<double> _P;
-    std::vector<double> _D;
-  };
-
   class Receiver
   {
-  public:
-    // Constructor & Destructor
-    Receiver();
-    ~Receiver();
+    public:
+      // Constructor & Destructor
+      Receiver();
+      ~Receiver();
+
+      // Public objects
+
+      // Public methods
+
+
+      /* - Observations -  */
+
+      void clearObservations();
+
+      void pushObservation(obsd_t obs);
+    
+      std::vector<obsd_t> getObservations();
+
+
+      /* - Navigation - */
+
+      void clearNavigation();
+      
+      void pushNavigation(nav_t nav);
+
+      std::vector<nav_t> getNavigation();
+      
+
+      /* - Processing Options - */
+
+      void clearOptions();
+      
+      void pushOption(prcopt_t opt);
+
+      std::vector<prcopt_t> getOptions();
+
+
+      /* - Solution - */
+
+
+      /* - Satellite status - */
+
+      /* - Compute Fix - */
+
+      int computeSPP(double *azel, char *msg);
+    
+    private:
+      // 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
+      std::vector<nav_t> _navVector;
+
+      // rtklib-like attribute to represent the different options for a given epoch
+      std::vector<prcopt_t> _opt;
+
+      // rtklib-like attribute to represent the solution for a given epoch
+      std::Vector<sol_t> _sol;
 
-    // Public objects
+      // rtklib-like attribute to represent the satellite status for a given epoch
+      std::vector<ssat_t> _ssat;
 
-    // Public methods
-    void clearObservations();
+      
 
-    void pushObservation(GNSSUtils::Observation obs);
-  private:
-    std::vector<Observation> _obsVector;
+      
 
   };
 }

src/CMakeLists.txt

 # driver source files
-SET(sources gnss_utils.cpp)
+SET(sources gnss_utils.cpp observation.cpp)
 
 # application header files
-SET(headers ../include/gnss_utils.h)
+SET(headers ../include/gnss_utils.h ../include/observation.h)
 
 # RTKLIB
 INCLUDE (${PROJECT_SOURCE_DIR}/cmake_modules/FindRTKLIB.cmake)
@@ -27,9 +27,11 @@ ADD_LIBRARY(gnss_utils SHARED ${sources})
 TARGET_LINK_LIBRARIES(gnss_utils ${Boost_LIBRARIES})
 
 # Installing
-INSTALL(TARGETS
+INSTALL(TARGETS gnss_utils
         RUNTIME DESTINATION bin
         LIBRARY DESTINATION /usr/local/lib
         ARCHIVE DESTINATION lib)
 INSTALL(FILES ${headers} DESTINATION include/gnss_utils)
 # INSTALL(FILES ../gnss_utils.cmake DESTINATION ${CMAKE_ROOT}/Modules/)
+INSTALL(FILES ../Findgnss_utils.cmake DESTINATION ${CMAKE_ROOT}/Modules/)
+ADD_SUBDIRECTORY(examples)

src/examples/CMakeLists.txt

+# create an example application
+ADD_EXECUTABLE(gnss_utils_test gnss_utils_test.cpp)
+# link necessary libraries
+TARGET_LINK_LIBRARIES(gnss_utils_test gnss_utils)

src/examples/gnss_utils_test.cpp

+#include "../../include/gnss_utils.h"
+#include "../../include/observation.h"
+#include <iostream>
+
+using namespace GNSSUtils;
+
+int main(int argc, char *argv[])
+{
+  // header
+  std::cout << "--------------------------" << std::endl;
+  std::cout << "GNSS Utils Library Example" << std::endl;
+  std::cout << "--------------------------" << std::endl;
+  // create a Receiver object
+  GNSSUtils::Receiver test_rcv;
+
+  // create a Observation object
+  gtime_t ts={0};
+  unsigned char q=1, w=2, e=3;
+  std::vector<unsigned char> vu({q, w, e});
+  std::vector<double> vd({1., 2., 3.});
+  std::vector<float> vf({1., 2., 3.});
+  Observation test_obs(ts, 1, 1, vu, vu, vu, vd, vd, vf);
+
+  // Display current Observation
+  std::cout << "Current observation (sat): " << "(" << test_obs.getSat() << ")" << std::endl;
+  std::cout << "Current observation (SNR): " << "(" ;
+
+ 
+
+  for (unsigned char i=0; i < 3; ++i)
+    std::cout << test_obs.getSNR()[i] << ", ";
+  std::cout << ")" << std::endl;
+
+  
+  obsd_t obs = test_obs.convert2rtk();
+  std::cout << "Observation SNR in RTKLIB format: " << "(";
+  for (unsigned char i=0; i < 3; ++i)
+    std::cout << obs.SNR[i] << ", ";
+  std::cout << ")" << std::endl;
+}

src/gnss_utils.cpp

@@ -2,45 +2,70 @@
 
 using namespace GNSSUtils;
 
-// XXX: Separate Classes into different .cpp .h files
+/******************************* RECEIVER CLASS *******************************************/
 
-// OBSERVATION METHODS
+Receiver::Receiver()
+{
+
+}
 
-Observation::Observation()
+Receiver::~Receiver()
 {
 
 }
 
-Observation::Observation(int sat, int rcv)
+
+/* - Observation - */
+
+void Receiver::clearObservations()
+{
+  _obsVector.clear();
+}
+
+void Receiver::pushObservation(obsd_t obs)
 {
-  this->_sat = sat;
-  this->_rcv = rcv;
+  _obsVector.push_back(obs);
 }
 
-Observation::~Observation()
+std::vector<obsd_t> Receiver::getObservations()
 {
-//
+  return this->_obsVector;
 }
 
 
-// RECEIVER METHODS
+/* - Navigation - */
 
-Receiver::Receiver()
+void Receiver::clearNavigation()
 {
-
+  _navVector.clear();
 }
 
-Receiver::~Receiver()
+void Receiver::pushNavigation(nav_t nav)
 {
-
+  _navVector.push_back(nav);
 }
 
-void Receiver::clearObservations()
+std::vector<nav_t> Receiver::getNavigation()
 {
-  _obsVector.clear();
+  return this->_navVector;
 }
 
-void Receiver::pushObservation(GNSSUtils::Observation obs)
+
+
+
+
+
+
+int Receiver::getSPP(double *azel, char *msg)
 {
-  _obsVector.push_back(obs);
+  obsd_t *obs = &this->_obsVector[0];
+  int n = this->_obsVector.size();
+  
+  return int pntpos(*obs, n, nav_t *nav, *opt, *sol, *azel, *ssat, *msg)
 }
+
+
+
+
+
+