diff --git a/Findgnss_utils.cmake b/Findgnss_utils.cmake
new file mode 100644
index 0000000000000000000000000000000000000000..85306e55c56ff0aea7537dcf31d091f2a426d9dc
--- /dev/null
+++ b/Findgnss_utils.cmake
@@ -0,0 +1,21 @@
+#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)
+
diff --git a/include/gnss_utils.h b/include/gnss_utils.h
index 05ac10ee62154a129af6bf1fb3b0f41534bce217..0c5b6ed4320ee047358ce6f0c56592714b069f7d 100644
--- a/include/gnss_utils.h
+++ b/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;
+
};
}
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 9cb24f718d61f24015616d1865977a3d4283d937..cc0421b22732bbc4d4f41d7d6415b8bdb0175d6f 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -1,8 +1,8 @@
# 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)
diff --git a/src/examples/CMakeLists.txt b/src/examples/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ece32987fb14d662a1e2bef7d9f0d848dbb7f2f0
--- /dev/null
+++ b/src/examples/CMakeLists.txt
@@ -0,0 +1,4 @@
+# create an example application
+ADD_EXECUTABLE(gnss_utils_test gnss_utils_test.cpp)
+# link necessary libraries
+TARGET_LINK_LIBRARIES(gnss_utils_test gnss_utils)
diff --git a/src/examples/gnss_utils_test.cpp b/src/examples/gnss_utils_test.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..8fd4243b068ee72957dfd3bf6a81682e9b367b6a
--- /dev/null
+++ b/src/examples/gnss_utils_test.cpp
@@ -0,0 +1,40 @@
+#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;
+}
diff --git a/src/gnss_utils.cpp b/src/gnss_utils.cpp
index c489d3e03f37ec26ae060d6221159049c5117cd9..16f173b9ee18f2a690af3dbd67574c852d222b89 100644
--- a/src/gnss_utils.cpp
+++ b/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)
}
+
+
+
+
+
+