diff --git a/CMakeLists.txt b/CMakeLists.txt index 6ddfb998b6c1640d5fb46d6a57d8a469f5b74b06..a517b9294242d5e9b1781a41e4a3f365a0545d61 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -28,9 +28,11 @@ CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X) if(COMPILER_SUPPORTS_CXX11) message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has C++11 support.") set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11") + #set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c99") elseif(COMPILER_SUPPORTS_CXX0X) message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has C++0x support.") set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x") + #set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c99") else() message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.") endif() diff --git a/Findgnss_utils.cmake b/Findgnss_utils.cmake index 85306e55c56ff0aea7537dcf31d091f2a426d9dc..849abcdb60ef0274c6affb4d365ba528951fa6e9 100644 --- a/Findgnss_utils.cmake +++ b/Findgnss_utils.cmake @@ -1,5 +1,5 @@ #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_PATH(gnss_utils_INCLUDE_DIR gnss_utils.h /usr/include/iridrivers /usr/local/lib) FIND_LIBRARY(gnss_utils_LIBRARY NAMES gnss_utils diff --git a/build/CMakeCache.txt b/build/CMakeCache.txt new file mode 100644 index 0000000000000000000000000000000000000000..1185529e0d87b77e7f2574c1c8ffb7e0da6f5091 --- /dev/null +++ b/build/CMakeCache.txt @@ -0,0 +1,366 @@ +# This is the CMakeCache file. +# For build in directory: /home/jlaplaza/gitlab/gnss_utils/build +# It was generated by CMake: /usr/bin/cmake +# You can edit this file to change values found and used by cmake. +# If you do not want to change any of the values, simply exit the editor. +# If you do want to change a value, simply edit, save, and exit the editor. +# The syntax for the file is as follows: +# KEY:TYPE=VALUE +# KEY is the name of a variable in the cache. +# TYPE is a hint to GUIs for the type of VALUE, DO NOT EDIT TYPE!. +# VALUE is the current value for the KEY. + +######################## +# EXTERNAL cache entries +######################## + +//The directory containing a CMake configuration file for Boost. +Boost_DIR:PATH=Boost_DIR-NOTFOUND + +//Path to a file. +Boost_INCLUDE_DIR:PATH=/usr/include + +//Path to a program. +CMAKE_AR:FILEPATH=/usr/bin/ar + +//For backwards compatibility, what version of CMake commands and +// syntax should this version of CMake try to support. +CMAKE_BACKWARDS_COMPATIBILITY:STRING=2.4 + +//Choose the type of build, options are: None(CMAKE_CXX_FLAGS or +// CMAKE_C_FLAGS used) Debug Release RelWithDebInfo MinSizeRel. +CMAKE_BUILD_TYPE:STRING= + 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debug builds. +CMAKE_SHARED_LINKER_FLAGS_DEBUG:STRING= + +//Flags used by the linker during release minsize builds. +CMAKE_SHARED_LINKER_FLAGS_MINSIZEREL:STRING= + +//Flags used by the linker during release builds. +CMAKE_SHARED_LINKER_FLAGS_RELEASE:STRING= + +//Flags used by the linker during Release with Debug Info builds. +CMAKE_SHARED_LINKER_FLAGS_RELWITHDEBINFO:STRING= + +//If set, runtime paths are not added when installing shared libraries, +// but are added when building. +CMAKE_SKIP_INSTALL_RPATH:BOOL=NO + +//If set, runtime paths are not added when using shared libraries. +CMAKE_SKIP_RPATH:BOOL=NO + +//Flags used by the linker during the creation of static libraries. +CMAKE_STATIC_LINKER_FLAGS:STRING= + +//Flags used by the linker during debug builds. +CMAKE_STATIC_LINKER_FLAGS_DEBUG:STRING= + +//Flags used by the linker during release minsize builds. +CMAKE_STATIC_LINKER_FLAGS_MINSIZEREL:STRING= + +//Flags used by the linker during release builds. 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defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__) +# define COMPILER_ID "ADSP" +#if defined(__VISUALDSPVERSION__) + /* __VISUALDSPVERSION__ = 0xVVRRPP00 */ +# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24) +# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8 & 0xFF) +#endif + +#elif defined(__IAR_SYSTEMS_ICC__ ) || defined(__IAR_SYSTEMS_ICC) +# define COMPILER_ID "IAR" + +#elif defined(__ARMCC_VERSION) +# define COMPILER_ID "ARMCC" +#if __ARMCC_VERSION >= 1000000 + /* __ARMCC_VERSION = VRRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#else + /* __ARMCC_VERSION = VRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#endif + + +#elif defined(SDCC) +# define COMPILER_ID "SDCC" + /* SDCC = VRP */ +# define COMPILER_VERSION_MAJOR DEC(SDCC/100) +# define COMPILER_VERSION_MINOR DEC(SDCC/10 % 10) +# define COMPILER_VERSION_PATCH DEC(SDCC % 10) + +#elif defined(_SGI_COMPILER_VERSION) || defined(_COMPILER_VERSION) +# define COMPILER_ID "MIPSpro" +# if defined(_SGI_COMPILER_VERSION) + /* _SGI_COMPILER_VERSION = VRP */ +# define COMPILER_VERSION_MAJOR DEC(_SGI_COMPILER_VERSION/100) +# define COMPILER_VERSION_MINOR DEC(_SGI_COMPILER_VERSION/10 % 10) +# define COMPILER_VERSION_PATCH DEC(_SGI_COMPILER_VERSION % 10) +# else + /* _COMPILER_VERSION = VRP */ +# define COMPILER_VERSION_MAJOR DEC(_COMPILER_VERSION/100) +# define COMPILER_VERSION_MINOR DEC(_COMPILER_VERSION/10 % 10) +# define COMPILER_VERSION_PATCH DEC(_COMPILER_VERSION % 10) +# endif + + +/* These compilers are either not known or too old to define an + identification macro. Try to identify the platform and guess that + it is the native compiler. */ +#elif defined(__sgi) +# define COMPILER_ID "MIPSpro" + +#elif defined(__hpux) || defined(__hpua) +# define COMPILER_ID "HP" + +#else /* unknown compiler */ +# define COMPILER_ID "" +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]"; +#ifdef SIMULATE_ID +char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]"; +#endif + +#ifdef __QNXNTO__ +char const* qnxnto = "INFO" ":" "qnxnto[]"; +#endif + +#if defined(__CRAYXE) || defined(__CRAYXC) +char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]"; +#endif + +#define STRINGIFY_HELPER(X) #X +#define STRINGIFY(X) STRINGIFY_HELPER(X) + +/* Identify known platforms by name. */ +#if defined(__linux) || defined(__linux__) || defined(linux) +# define PLATFORM_ID "Linux" + +#elif defined(__CYGWIN__) +# define PLATFORM_ID "Cygwin" + +#elif defined(__MINGW32__) +# define PLATFORM_ID "MinGW" + +#elif defined(__APPLE__) +# define PLATFORM_ID "Darwin" + +#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32) +# define PLATFORM_ID "Windows" + +#elif defined(__FreeBSD__) || defined(__FreeBSD) +# define PLATFORM_ID "FreeBSD" + +#elif defined(__NetBSD__) || defined(__NetBSD) +# define PLATFORM_ID "NetBSD" + +#elif defined(__OpenBSD__) || defined(__OPENBSD) +# define PLATFORM_ID "OpenBSD" + +#elif defined(__sun) || defined(sun) +# define PLATFORM_ID "SunOS" + +#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__) +# define PLATFORM_ID "AIX" + +#elif defined(__sgi) || defined(__sgi__) || defined(_SGI) +# define PLATFORM_ID "IRIX" + +#elif defined(__hpux) || defined(__hpux__) +# define PLATFORM_ID "HP-UX" + +#elif defined(__HAIKU__) +# define PLATFORM_ID "Haiku" + +#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS) +# define PLATFORM_ID "BeOS" + +#elif defined(__QNX__) || defined(__QNXNTO__) +# define PLATFORM_ID "QNX" + +#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__) +# define PLATFORM_ID "Tru64" + +#elif defined(__riscos) || defined(__riscos__) +# define PLATFORM_ID "RISCos" + +#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__) +# define PLATFORM_ID "SINIX" + +#elif defined(__UNIX_SV__) +# define PLATFORM_ID "UNIX_SV" + +#elif defined(__bsdos__) +# define PLATFORM_ID "BSDOS" + +#elif defined(_MPRAS) || defined(MPRAS) +# define PLATFORM_ID "MP-RAS" + +#elif defined(__osf) || defined(__osf__) +# define PLATFORM_ID "OSF1" + +#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv) +# define PLATFORM_ID "SCO_SV" + +#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX) +# define PLATFORM_ID "ULTRIX" + +#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX) +# define PLATFORM_ID "Xenix" + +#elif defined(__WATCOMC__) +# if defined(__LINUX__) +# define PLATFORM_ID "Linux" + +# elif defined(__DOS__) +# define PLATFORM_ID "DOS" + +# elif defined(__OS2__) +# define PLATFORM_ID "OS2" + +# elif defined(__WINDOWS__) +# define PLATFORM_ID "Windows3x" + +# else /* unknown platform */ +# define PLATFORM_ID "" +# endif + +#else /* unknown platform */ +# define PLATFORM_ID "" + +#endif + +/* For windows compilers MSVC and Intel we can determine + the architecture of the compiler being used. This is because + the compilers do not have flags that can change the architecture, + but rather depend on which compiler is being used +*/ +#if defined(_WIN32) && defined(_MSC_VER) +# if defined(_M_IA64) +# define ARCHITECTURE_ID "IA64" + +# elif defined(_M_X64) || defined(_M_AMD64) +# define ARCHITECTURE_ID "x64" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# elif defined(_M_ARM) +# if _M_ARM == 4 +# define ARCHITECTURE_ID "ARMV4I" +# elif _M_ARM == 5 +# define ARCHITECTURE_ID "ARMV5I" +# else +# define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM) +# endif + +# elif defined(_M_MIPS) +# define ARCHITECTURE_ID "MIPS" + +# elif defined(_M_SH) +# define ARCHITECTURE_ID "SHx" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__WATCOMC__) +# if defined(_M_I86) +# define ARCHITECTURE_ID "I86" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#else +# define ARCHITECTURE_ID "" +#endif + +/* Convert integer to decimal digit literals. */ +#define DEC(n) \ + ('0' + (((n) / 10000000)%10)), \ + ('0' + (((n) / 1000000)%10)), \ + ('0' + (((n) / 100000)%10)), \ + ('0' + (((n) / 10000)%10)), \ + ('0' + (((n) / 1000)%10)), \ + ('0' + (((n) / 100)%10)), \ + ('0' + (((n) / 10)%10)), \ + ('0' + ((n) % 10)) + +/* Convert integer to hex digit literals. */ +#define HEX(n) \ + ('0' + ((n)>>28 & 0xF)), \ + ('0' + ((n)>>24 & 0xF)), \ + ('0' + ((n)>>20 & 0xF)), \ + ('0' + ((n)>>16 & 0xF)), \ + ('0' + ((n)>>12 & 0xF)), \ + ('0' + ((n)>>8 & 0xF)), \ + ('0' + ((n)>>4 & 0xF)), \ + ('0' + ((n) & 0xF)) + +/* Construct a string literal encoding the version number components. */ +#ifdef COMPILER_VERSION_MAJOR +char const info_version[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[', + COMPILER_VERSION_MAJOR, +# ifdef COMPILER_VERSION_MINOR + '.', COMPILER_VERSION_MINOR, +# ifdef COMPILER_VERSION_PATCH + '.', COMPILER_VERSION_PATCH, +# ifdef COMPILER_VERSION_TWEAK + '.', COMPILER_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct a string literal encoding the version number components. */ +#ifdef SIMULATE_VERSION_MAJOR +char const info_simulate_version[] = { + 'I', 'N', 'F', 'O', ':', + 's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[', + SIMULATE_VERSION_MAJOR, +# ifdef SIMULATE_VERSION_MINOR + '.', SIMULATE_VERSION_MINOR, +# ifdef SIMULATE_VERSION_PATCH + '.', SIMULATE_VERSION_PATCH, +# ifdef SIMULATE_VERSION_TWEAK + '.', SIMULATE_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]"; +char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]"; + + + + +const char* info_language_dialect_default = "INFO" ":" "dialect_default[" +#if !defined(__STDC_VERSION__) + "90" +#elif __STDC_VERSION__ >= 201000L + "11" +#elif __STDC_VERSION__ >= 199901L + "99" +#else +#endif +"]"; + +/*--------------------------------------------------------------------------*/ + +#ifdef ID_VOID_MAIN +void main() {} +#else +int main(int argc, char* argv[]) +{ + int require = 0; + require += info_compiler[argc]; + require += info_platform[argc]; + require += info_arch[argc]; +#ifdef COMPILER_VERSION_MAJOR + require += info_version[argc]; +#endif +#ifdef SIMULATE_ID + require += info_simulate[argc]; +#endif +#ifdef SIMULATE_VERSION_MAJOR + require += info_simulate_version[argc]; +#endif +#if defined(__CRAYXE) || defined(__CRAYXC) + require += info_cray[argc]; +#endif + require += info_language_dialect_default[argc]; + (void)argv; + return require; +} +#endif diff --git a/build/CMakeFiles/3.5.1/CompilerIdC/a.out b/build/CMakeFiles/3.5.1/CompilerIdC/a.out new file mode 100755 index 0000000000000000000000000000000000000000..3e779cddc6621457f3aa2ca25bab3125c9c419b2 Binary files /dev/null and b/build/CMakeFiles/3.5.1/CompilerIdC/a.out differ diff --git a/build/CMakeFiles/3.5.1/CompilerIdCXX/CMakeCXXCompilerId.cpp b/build/CMakeFiles/3.5.1/CompilerIdCXX/CMakeCXXCompilerId.cpp new file mode 100644 index 0000000000000000000000000000000000000000..e6d853637c6f7637dd8672b59612a9263a4d0244 --- /dev/null +++ b/build/CMakeFiles/3.5.1/CompilerIdCXX/CMakeCXXCompilerId.cpp @@ -0,0 +1,533 @@ +/* This source file must have a .cpp extension so that all C++ compilers + recognize the extension without flags. Borland does not know .cxx for + example. */ +#ifndef __cplusplus +# error "A C compiler has been selected for C++." +#endif + + +/* Version number components: V=Version, R=Revision, P=Patch + Version date components: YYYY=Year, MM=Month, DD=Day */ + +#if defined(__COMO__) +# define COMPILER_ID "Comeau" + /* __COMO_VERSION__ = VRR */ +# define COMPILER_VERSION_MAJOR DEC(__COMO_VERSION__ / 100) +# define COMPILER_VERSION_MINOR DEC(__COMO_VERSION__ % 100) + +#elif defined(__INTEL_COMPILER) || defined(__ICC) +# define COMPILER_ID "Intel" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif + /* __INTEL_COMPILER = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER/100) +# define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER/10 % 10) +# if defined(__INTEL_COMPILER_UPDATE) +# define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER_UPDATE) +# else +# define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER % 10) +# endif +# if defined(__INTEL_COMPILER_BUILD_DATE) + /* __INTEL_COMPILER_BUILD_DATE = YYYYMMDD */ +# define COMPILER_VERSION_TWEAK DEC(__INTEL_COMPILER_BUILD_DATE) +# endif +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif + +#elif defined(__PATHCC__) +# define COMPILER_ID "PathScale" +# define COMPILER_VERSION_MAJOR DEC(__PATHCC__) +# define COMPILER_VERSION_MINOR DEC(__PATHCC_MINOR__) +# if defined(__PATHCC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__PATHCC_PATCHLEVEL__) +# endif + +#elif defined(__BORLANDC__) && defined(__CODEGEARC_VERSION__) +# define COMPILER_ID "Embarcadero" +# define COMPILER_VERSION_MAJOR HEX(__CODEGEARC_VERSION__>>24 & 0x00FF) +# define COMPILER_VERSION_MINOR HEX(__CODEGEARC_VERSION__>>16 & 0x00FF) +# define COMPILER_VERSION_PATCH DEC(__CODEGEARC_VERSION__ & 0xFFFF) + +#elif defined(__BORLANDC__) +# define COMPILER_ID "Borland" + /* __BORLANDC__ = 0xVRR */ +# define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8) +# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF) + +#elif defined(__WATCOMC__) && __WATCOMC__ < 1200 +# define COMPILER_ID "Watcom" + /* __WATCOMC__ = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100) +# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) +# if (__WATCOMC__ % 10) > 0 +# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) +# endif + +#elif defined(__WATCOMC__) +# define COMPILER_ID "OpenWatcom" + /* __WATCOMC__ = VVRP + 1100 */ +# define COMPILER_VERSION_MAJOR DEC((__WATCOMC__ - 1100) / 100) +# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) +# if (__WATCOMC__ % 10) > 0 +# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) +# endif + +#elif defined(__SUNPRO_CC) +# define COMPILER_ID "SunPro" +# if __SUNPRO_CC >= 0x5100 + /* __SUNPRO_CC = 0xVRRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>12) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC & 0xF) +# else + /* __SUNPRO_CC = 0xVRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>8) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC & 0xF) +# endif + +#elif defined(__HP_aCC) +# define COMPILER_ID "HP" + /* __HP_aCC = VVRRPP */ +# define COMPILER_VERSION_MAJOR DEC(__HP_aCC/10000) +# define COMPILER_VERSION_MINOR DEC(__HP_aCC/100 % 100) +# define COMPILER_VERSION_PATCH DEC(__HP_aCC % 100) + +#elif defined(__DECCXX) +# define COMPILER_ID "Compaq" + /* __DECCXX_VER = VVRRTPPPP */ +# define COMPILER_VERSION_MAJOR DEC(__DECCXX_VER/10000000) +# define COMPILER_VERSION_MINOR DEC(__DECCXX_VER/100000 % 100) +# define COMPILER_VERSION_PATCH DEC(__DECCXX_VER % 10000) + +#elif defined(__IBMCPP__) && defined(__COMPILER_VER__) +# define COMPILER_ID "zOS" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ >= 800 +# define COMPILER_ID "XL" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ < 800 +# define COMPILER_ID "VisualAge" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__PGI) +# define COMPILER_ID "PGI" +# define COMPILER_VERSION_MAJOR DEC(__PGIC__) +# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__) +# if defined(__PGIC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__) +# endif + +#elif defined(_CRAYC) +# define COMPILER_ID "Cray" +# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR) +# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR) + +#elif defined(__TI_COMPILER_VERSION__) +# define COMPILER_ID "TI" + /* __TI_COMPILER_VERSION__ = VVVRRRPPP */ +# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000) +# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000 % 1000) +# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__ % 1000) + +#elif defined(__FUJITSU) || defined(__FCC_VERSION) || defined(__fcc_version) +# define COMPILER_ID "Fujitsu" + +#elif defined(__SCO_VERSION__) +# define COMPILER_ID "SCO" + +#elif defined(__clang__) && defined(__apple_build_version__) +# define COMPILER_ID "AppleClang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif +# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__) + +#elif defined(__clang__) +# define COMPILER_ID "Clang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif + +#elif defined(__GNUC__) +# define COMPILER_ID "GNU" +# define COMPILER_VERSION_MAJOR DEC(__GNUC__) +# if defined(__GNUC_MINOR__) +# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__) +# endif +# if defined(__GNUC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif + +#elif defined(_MSC_VER) +# define COMPILER_ID "MSVC" + /* _MSC_VER = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100) +# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100) +# if defined(_MSC_FULL_VER) +# if _MSC_VER >= 1400 + /* _MSC_FULL_VER = VVRRPPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000) +# else + /* _MSC_FULL_VER = VVRRPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000) +# endif +# endif +# if defined(_MSC_BUILD) +# define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD) +# endif + +#elif defined(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__) +# define COMPILER_ID "ADSP" +#if defined(__VISUALDSPVERSION__) + /* __VISUALDSPVERSION__ = 0xVVRRPP00 */ +# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24) +# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8 & 0xFF) +#endif + +#elif defined(__IAR_SYSTEMS_ICC__ ) || defined(__IAR_SYSTEMS_ICC) +# define COMPILER_ID "IAR" + +#elif defined(__ARMCC_VERSION) +# define COMPILER_ID "ARMCC" +#if __ARMCC_VERSION >= 1000000 + /* __ARMCC_VERSION = VRRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#else + /* __ARMCC_VERSION = VRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#endif + + +#elif defined(_SGI_COMPILER_VERSION) || defined(_COMPILER_VERSION) +# define COMPILER_ID "MIPSpro" +# if defined(_SGI_COMPILER_VERSION) + /* _SGI_COMPILER_VERSION = VRP */ +# define COMPILER_VERSION_MAJOR DEC(_SGI_COMPILER_VERSION/100) +# define COMPILER_VERSION_MINOR DEC(_SGI_COMPILER_VERSION/10 % 10) +# define COMPILER_VERSION_PATCH DEC(_SGI_COMPILER_VERSION % 10) +# else + /* _COMPILER_VERSION = VRP */ +# define COMPILER_VERSION_MAJOR DEC(_COMPILER_VERSION/100) +# define COMPILER_VERSION_MINOR DEC(_COMPILER_VERSION/10 % 10) +# define COMPILER_VERSION_PATCH DEC(_COMPILER_VERSION % 10) +# endif + + +/* These compilers are either not known or too old to define an + identification macro. Try to identify the platform and guess that + it is the native compiler. */ +#elif defined(__sgi) +# define COMPILER_ID "MIPSpro" + +#elif defined(__hpux) || defined(__hpua) +# define COMPILER_ID "HP" + +#else /* unknown compiler */ +# define COMPILER_ID "" +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]"; +#ifdef SIMULATE_ID +char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]"; +#endif + +#ifdef __QNXNTO__ +char const* qnxnto = "INFO" ":" "qnxnto[]"; +#endif + +#if defined(__CRAYXE) || defined(__CRAYXC) +char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]"; +#endif + +#define STRINGIFY_HELPER(X) #X +#define STRINGIFY(X) STRINGIFY_HELPER(X) + +/* Identify known platforms by name. */ +#if defined(__linux) || defined(__linux__) || defined(linux) +# define PLATFORM_ID "Linux" + +#elif defined(__CYGWIN__) +# define PLATFORM_ID "Cygwin" + +#elif defined(__MINGW32__) +# define PLATFORM_ID "MinGW" + +#elif defined(__APPLE__) +# define PLATFORM_ID "Darwin" + +#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32) +# define PLATFORM_ID "Windows" + +#elif defined(__FreeBSD__) || defined(__FreeBSD) +# define PLATFORM_ID "FreeBSD" + +#elif defined(__NetBSD__) || defined(__NetBSD) +# define PLATFORM_ID "NetBSD" + +#elif defined(__OpenBSD__) || defined(__OPENBSD) +# define PLATFORM_ID "OpenBSD" + +#elif defined(__sun) || defined(sun) +# define PLATFORM_ID "SunOS" + +#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__) +# define PLATFORM_ID "AIX" + +#elif defined(__sgi) || defined(__sgi__) || defined(_SGI) +# define PLATFORM_ID "IRIX" + +#elif defined(__hpux) || defined(__hpux__) +# define PLATFORM_ID "HP-UX" + +#elif defined(__HAIKU__) +# define PLATFORM_ID "Haiku" + +#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS) +# define PLATFORM_ID "BeOS" + +#elif defined(__QNX__) || defined(__QNXNTO__) +# define PLATFORM_ID "QNX" + +#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__) +# define PLATFORM_ID "Tru64" + +#elif defined(__riscos) || defined(__riscos__) +# define PLATFORM_ID "RISCos" + +#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__) +# define PLATFORM_ID "SINIX" + +#elif defined(__UNIX_SV__) +# define PLATFORM_ID "UNIX_SV" + +#elif defined(__bsdos__) +# define PLATFORM_ID "BSDOS" + +#elif defined(_MPRAS) || defined(MPRAS) +# define PLATFORM_ID "MP-RAS" + +#elif defined(__osf) || defined(__osf__) +# define PLATFORM_ID "OSF1" + +#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv) +# define PLATFORM_ID "SCO_SV" + +#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX) +# define PLATFORM_ID "ULTRIX" + +#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX) +# define PLATFORM_ID "Xenix" + +#elif defined(__WATCOMC__) +# if defined(__LINUX__) +# define PLATFORM_ID "Linux" + +# elif defined(__DOS__) +# define PLATFORM_ID "DOS" + +# elif defined(__OS2__) +# define PLATFORM_ID "OS2" + +# elif defined(__WINDOWS__) +# define PLATFORM_ID "Windows3x" + +# else /* unknown platform */ +# define PLATFORM_ID "" +# endif + +#else /* unknown platform */ +# define PLATFORM_ID "" + +#endif + +/* For windows compilers MSVC and Intel we can determine + the architecture of the compiler being used. 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some rules from gmake that .SUFFIXES does not remove. +SUFFIXES = + +.SUFFIXES: .hpux_make_needs_suffix_list + + +# Suppress display of executed commands. +$(VERBOSE).SILENT: + + +# A target that is always out of date. +cmake_force: + +.PHONY : cmake_force + +#============================================================================= +# Set environment variables for the build. + +# The shell in which to execute make rules. +SHELL = /bin/sh + +# The CMake executable. +CMAKE_COMMAND = /usr/bin/cmake + +# The command to remove a file. +RM = /usr/bin/cmake -E remove -f + +# Escaping for special characters. +EQUALS = = + +# The top-level source directory on which CMake was run. +CMAKE_SOURCE_DIR = /home/jlaplaza/gitlab/gnss_utils + +# The top-level build directory on which CMake was run. +CMAKE_BINARY_DIR = /home/jlaplaza/gitlab/gnss_utils/build + +#============================================================================= +# Targets provided globally by CMake. + +# Special rule for 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Prepare targets for installation. +preinstall: all + cd /home/jlaplaza/gitlab/gnss_utils/build && $(MAKE) -f CMakeFiles/Makefile2 src/examples/preinstall +.PHONY : preinstall + +# Prepare targets for installation. +preinstall/fast: + cd /home/jlaplaza/gitlab/gnss_utils/build && $(MAKE) -f CMakeFiles/Makefile2 src/examples/preinstall +.PHONY : preinstall/fast + +# clear depends +depend: + cd /home/jlaplaza/gitlab/gnss_utils/build && $(CMAKE_COMMAND) -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 1 +.PHONY : depend + +# Convenience name for target. +src/examples/CMakeFiles/gnss_utils_test.dir/rule: + cd /home/jlaplaza/gitlab/gnss_utils/build && $(MAKE) -f CMakeFiles/Makefile2 src/examples/CMakeFiles/gnss_utils_test.dir/rule +.PHONY : src/examples/CMakeFiles/gnss_utils_test.dir/rule + +# Convenience name for target. +gnss_utils_test: src/examples/CMakeFiles/gnss_utils_test.dir/rule + +.PHONY : gnss_utils_test + +# fast build rule for target. +gnss_utils_test/fast: + cd /home/jlaplaza/gitlab/gnss_utils/build && $(MAKE) -f src/examples/CMakeFiles/gnss_utils_test.dir/build.make src/examples/CMakeFiles/gnss_utils_test.dir/build +.PHONY : gnss_utils_test/fast + +# target to build an object file +gnss_utils_test.o: + cd /home/jlaplaza/gitlab/gnss_utils/build && $(MAKE) -f src/examples/CMakeFiles/gnss_utils_test.dir/build.make src/examples/CMakeFiles/gnss_utils_test.dir/gnss_utils_test.o +.PHONY : gnss_utils_test.o + +# target to preprocess a source file +gnss_utils_test.i: + cd /home/jlaplaza/gitlab/gnss_utils/build && $(MAKE) -f src/examples/CMakeFiles/gnss_utils_test.dir/build.make src/examples/CMakeFiles/gnss_utils_test.dir/gnss_utils_test.i +.PHONY : gnss_utils_test.i + +# target to generate assembly for a file +gnss_utils_test.s: + cd /home/jlaplaza/gitlab/gnss_utils/build && $(MAKE) -f src/examples/CMakeFiles/gnss_utils_test.dir/build.make src/examples/CMakeFiles/gnss_utils_test.dir/gnss_utils_test.s +.PHONY : gnss_utils_test.s + +# Help Target +help: + @echo "The following are some of the valid targets for this Makefile:" + @echo "... all (the default if no target is provided)" + @echo "... clean" + @echo "... depend" + @echo "... install" + @echo "... list_install_components" + @echo "... rebuild_cache" + @echo "... gnss_utils_test" + @echo "... install/strip" + @echo "... install/local" + @echo "... edit_cache" + @echo "... gnss_utils_test.o" + @echo "... gnss_utils_test.i" + @echo "... gnss_utils_test.s" +.PHONY : help + + + +#============================================================================= +# Special targets to cleanup operation of make. + +# Special rule to run CMake to check the build system integrity. +# No rule that depends on this can have commands that come from listfiles +# because they might be regenerated. +cmake_check_build_system: + cd /home/jlaplaza/gitlab/gnss_utils/build && $(CMAKE_COMMAND) -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0 +.PHONY : cmake_check_build_system + diff --git a/build/src/examples/cmake_install.cmake b/build/src/examples/cmake_install.cmake new file mode 100644 index 0000000000000000000000000000000000000000..b25bd31561cc5361b76176bc32459c03a16d6944 --- /dev/null +++ b/build/src/examples/cmake_install.cmake @@ -0,0 +1,34 @@ +# Install script for directory: /home/jlaplaza/gitlab/gnss_utils/src/examples + +# Set the install prefix +if(NOT DEFINED CMAKE_INSTALL_PREFIX) + set(CMAKE_INSTALL_PREFIX "/usr/local") +endif() +string(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}") + +# Set the install configuration name. +if(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME) + if(BUILD_TYPE) + string(REGEX REPLACE "^[^A-Za-z0-9_]+" "" + CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}") + else() + set(CMAKE_INSTALL_CONFIG_NAME "RELEASE") + endif() + message(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"") +endif() + +# Set the component getting installed. +if(NOT CMAKE_INSTALL_COMPONENT) + if(COMPONENT) + message(STATUS "Install component: \"${COMPONENT}\"") + set(CMAKE_INSTALL_COMPONENT "${COMPONENT}") + else() + set(CMAKE_INSTALL_COMPONENT) + endif() +endif() + +# Install shared libraries without execute permission? +if(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE) + set(CMAKE_INSTALL_SO_NO_EXE "1") +endif() + diff --git a/include/gnss_utils.h b/include/gnss_utils.h index f090487399a008b1dc097d3f0e1e5fa47ecaa353..c36d2f78bce2cd294ac4c541db7c8271c13bf739 100644 --- a/include/gnss_utils.h +++ b/include/gnss_utils.h @@ -8,6 +8,16 @@ extern "C" { #include "/home/jlaplaza/RTKLIB/src/rtklib.h" + #include "/home/jlaplaza/RTKLIB/src/pntpos.c" + #include "/home/jlaplaza/RTKLIB/src/rtkcmn.c" + #include "/home/jlaplaza/RTKLIB/src/sbas.c" + #include "/home/jlaplaza/RTKLIB/src/ephemeris.c" + #include "/home/jlaplaza/RTKLIB/src/preceph.c" + #include "/home/jlaplaza/RTKLIB/src/qzslex.c" + //#include "/home/jlaplaza/RTKLIB/src/rtcm.c" + //#include "/home/jlaplaza/RTKLIB/src/rtcm2.c" + //#include "/home/jlaplaza/RTKLIB/src/rtcm3.c" + #include "/home/jlaplaza/RTKLIB/src/ionex.c" } namespace GNSSUtils @@ -74,6 +84,7 @@ namespace GNSSUtils int computeSPP(double *azel, char *msg); private: + // Private objects // rtklib-like attribute to represent the different observation msgs for a given epoch std::vector<obsd_t> _obsVector; @@ -89,6 +100,9 @@ namespace GNSSUtils // rtklib-like attribute to represent the satellite status for a given epoch ssat_t _ssat; + // Private methods + + }; } #endif diff --git a/include/navigation.h b/include/navigation.h new file mode 100644 index 0000000000000000000000000000000000000000..65bb9c036fa70809ff7a6b93c5f22cb68bd8e4a2 --- /dev/null +++ b/include/navigation.h @@ -0,0 +1,143 @@ +#ifndef GNSS_UTILS_H +#define GNSS_UTILS_H + +#include <vector> +#include <iostream> +#include <memory> + +extern "C" +{ + #include "/home/jlaplaza/RTKLIB/src/rtklib.h" +} + +namespace GNSSUtils +{ + class Navigation + { + public: + // Constructor & Destructor + Navigation(); + ~Navigation(); + + // Public objects + + // Public methods + + void clearNavigation(); + + void setNavigation(nav_t nav); + + nav_t getNavigation(); + + + /****************** Array memory management ******************/ + + + // Ephemeris + void allocateEphemeris(int n); + + void deleteEphemeris(); + + void allocateGLONASSEphemeris(int n); + + void deleteGLONASSEphemeris(); + + void allocateSBASEphemeris(int n); //SBAS + + void deleteSBASEphemeris(); + + void allocateAlmanac(int n); + + void deleteAlmanac(); + + + // UTC + void allocateUTCGPS(int n); //GPS + + void deleteUTCGPS(); + + void allocateUTCGlo(int n); // Glo + + void deleteUTCGlo(); + + void allocateUTCGal(int n); // Galileo + + void deleteUTCGal(); + + void allocateUTCQZS(int n); // QZS + + void deleteUTCQZS(); + + void allocateUTCCMP(int n); // BeiDou + + void deleteUTCCMP(); + + void allocateUTCSBAS(int n); // SBAS + + void deleteUTCSBAS(); + + + // Ionosphere + void allocateIonGPS(int n); // GPS + + void deleteIonGPS(); + + void allocateIonGal(int n); // Galileo + + void deleteIonGal(); + + void allocateIonQZS(int n); // QZS + + void deleteIonQZS(); + + void allocateIonCMP(int n); // BeiDou + + void deleteIonCMP(); + + + //Others + void allocatelam(int n); + + void deletelam(); + + void allocatecbias(int n); + + void deletecbias(); + + void allocatewlbias(int n); + + void deletewlbias(); + + void allocateglocpbias(int n); + + void deleteglocpbias(); + + void allocateglofcn(int n); + + void deleteglofcn(); + + void allocatepcv(int n); + + void deletepcv(); + + void allocatesbsion(int n); + + void deletesbsion(); + + + + + + + private: + + // rtklib-like attribute to represent the different navigation msgs for a given epoch + nav_t _nav; + + // Private methods + + + }; +} +#endif + diff --git a/include/observations.h b/include/observations.h new file mode 100644 index 0000000000000000000000000000000000000000..06898ef155e51525fb5a868f3f227d7183a4b3ff --- /dev/null +++ b/include/observations.h @@ -0,0 +1,51 @@ +#ifndef GNSS_UTILS_H +#define GNSS_UTILS_H + +#include <vector> +#include <iostream> +#include <memory> + + + +extern "C" +{ + #include "/home/jlaplaza/RTKLIB/src/rtklib.h" +} + +namespace GNSSUtils +{ + class Observations + { + public: + // Constructor & Destructor + Observations(); + ~Observations(); + + // Public objects + + // Public methods + + + /* - Observations - */ + + void clearObservations(); + + void pushObservation(obsd_t obs); + + std::vector<obsd_t> getObservations(); + + + + private: + // Private objects + // rtklib-like attribute to represent the different observation msgs for a given epoch + std::vector<obsd_t> _obsVector; + + + // Private methods + + + }; +} +#endif + diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt index ea5f7445478c8c2ed1e9d3d01f90cdcd573cbb36..e9633cd1746f7b380b7a09862e257e0ba2ac1d6d 100644 --- a/src/CMakeLists.txt +++ b/src/CMakeLists.txt @@ -1,5 +1,11 @@ +# rtklib path +set(rtklib_dir $ENV{HOME}/RTKLIB) +set(rtklib_src_dir ${rtklib_dir}/src) + # driver source files SET(sources gnss_utils.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}/ionex.c) + # application header files SET(headers ../include/gnss_utils.h) @@ -23,7 +29,7 @@ link_directories(/usr/lib/x86_64-linux-gnu/) INCLUDE_DIRECTORIES(. ${EIGEN3_INCLUDE_DIR} ${Boost_INCLUDE_DIRS} ${RTK_LIB_PATH}) # create the shared library -ADD_LIBRARY(gnss_utils SHARED ${sources}) +ADD_LIBRARY(gnss_utils SHARED ${sources} ${rtklib_src}) TARGET_LINK_LIBRARIES(gnss_utils ${Boost_LIBRARIES}) # Installing diff --git a/src/Obs-Nav-CMakeLists.txt b/src/Obs-Nav-CMakeLists.txt new file mode 100644 index 0000000000000000000000000000000000000000..ff6b156319717664dcbbaff0a23acd7e4bb71323 --- /dev/null +++ b/src/Obs-Nav-CMakeLists.txt @@ -0,0 +1,37 @@ +# driver source files +SET(sources observations.cpp navigation.cpp) + +# application header files +SET(headers ../include/observations.h ../include/navigation.h) + +# RTKLIB +INCLUDE (${PROJECT_SOURCE_DIR}/cmake_modules/FindRTKLIB.cmake) + +# Eigen ####### +FIND_PACKAGE(Eigen3 REQUIRED) + +# Boost ####### +set(Boost_USE_STATIC_LIBS OFF) +set(Boost_USE_MULTITHREADED OFF) +set(Boost_USE_STATIC_RUNTIME OFF) +FIND_PACKAGE(Boost REQUIRED) + +# Adding libraries' directories +link_directories(/usr/lib/x86_64-linux-gnu/) + +# Adding include directories +INCLUDE_DIRECTORIES(. ${EIGEN3_INCLUDE_DIR} ${Boost_INCLUDE_DIRS} ${RTK_LIB_PATH}) + +# create the shared library +ADD_LIBRARY(gnss_utils SHARED ${sources}) +TARGET_LINK_LIBRARIES(gnss_utils ${Boost_LIBRARIES}) + +# Installing +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/gnss_utils_test.cpp b/src/examples/gnss_utils_test.cpp index 6375e77e30b0b39d621c872197a56116e465eec0..340f3919d3fee9d576b3dffbd532b680da6af945 100644 --- a/src/examples/gnss_utils_test.cpp +++ b/src/examples/gnss_utils_test.cpp @@ -10,14 +10,26 @@ int main(int argc, char *argv[]) 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.}); + GNSSUtils::Receiver test_rcv; + + // set _obsVector attribute + int year=2018, month=5, day=17, hour=14, min=1, seconds=2; + double seconds_frac=0.002; + time_t te = {0}; + + gtime_t time = {te, seconds_frac}; + + + //Set processing options + prcopt_t prcopt = prcopt_default; + test_rcv.setOptions(prcopt); + + + //Set solution + + + + //Observation test_obs(ts, 1, 1, vu, vu, vu, vd, vd, vf); // Display current Observation diff --git a/src/examples/raw_201805171357.nav b/src/examples/raw_201805171357.nav new file mode 100644 index 0000000000000000000000000000000000000000..fcd505727f62595cdcb7d6609f229eba3d34bcea --- /dev/null +++ b/src/examples/raw_201805171357.nav @@ -0,0 +1,241 @@ + 3.03 N: GNSS NAV DATA M: Mixed RINEX VERSION / TYPE +RTKCONV-QT 2.4.3 Eml 20180518 083005 UTC PGM / RUN BY / DATE +log: /home/fherrero/Desktop/rtk_data/may17_street/rover/ra COMMENT +format: u-blox COMMENT + END OF HEADER +G21 2018 5 17 16 0 0 -.393872614950E-03 .488853402203E-11 .000000000000E+00 + .180000000000E+02 -.716562500000E+02 .427089218552E-08 .277512804670E+01 + -.366568565369E-05 .243949498981E-01 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-.186264514923E-08 .000000000000E+00 diff --git a/src/examples/raw_201805171357.obs b/src/examples/raw_201805171357.obs new file mode 100644 index 0000000000000000000000000000000000000000..cf18d78b9c11bf8ca48f2fea2bb01bb2db3e344a --- /dev/null +++ b/src/examples/raw_201805171357.obs @@ -0,0 +1,36 @@ + 3.03 OBSERVATION DATA M: Mixed RINEX VERSION / TYPE +RTKCONV-QT 2.4.3 Eml 20180518 083005 UTC PGM / RUN BY / DATE +log: /home/fherrero/Desktop/rtk_data/may17_street/rover/ra COMMENT +format: u-blox COMMENT + MARKER NAME + MARKER NUMBER + MARKER TYPE + OBSERVER / AGENCY + REC # / TYPE / VERS + ANT # / TYPE + 4789374.0336 177048.3292 4194542.6444 APPROX POSITION XYZ + 0.0000 0.0000 0.0000 ANTENNA: DELTA H/E/N +G 4 C1C L1C D1C S1C SYS / # / OBS TYPES +R 4 C1C L1C D1C S1C SYS / # / OBS TYPES +E 4 C1C L1C D1C S1C SYS / # / OBS TYPES +J 4 C1C L1C D1C S1C SYS / # / OBS TYPES +S 4 C1C L1C D1C S1C SYS / # / OBS TYPES +C 4 C1I L1I D1I S1I SYS / # / OBS TYPES + 2018 5 17 14 1 2.0020000 GPS TIME OF FIRST OBS + 2018 5 17 14 42 8.6010000 GPS TIME OF LAST OBS +G SYS / PHASE SHIFT +R SYS / PHASE SHIFT +E SYS / PHASE SHIFT +J SYS / PHASE SHIFT +S SYS / PHASE SHIFT +C SYS / PHASE SHIFT + 0 GLONASS SLOT / FRQ # + C1C 0.000 C1P 0.000 C2C 0.000 C2P 0.000 GLONASS COD/PHS/BIS + END OF HEADER +> 2018 5 17 14 1 2.0020000 0 5 +G25 22348322.550 2 117441226.71621 -3039.055 45.000 +G29 20873167.574 9 -2449.652 23.000 +R11 20330782.856 9 108641485.22725 -3329.648 32.000 +G31 20920707.830 8 109939061.00922 -1587.315 39.000 +G21 21597659.275 8 113496465.14223 1343.465 37.000 + diff --git a/src/examples/raw_201805171357.pos b/src/examples/raw_201805171357.pos new file mode 100644 index 0000000000000000000000000000000000000000..7030b0bf011cd2c18784093eceb12137873521f9 --- /dev/null +++ b/src/examples/raw_201805171357.pos @@ -0,0 +1,12 @@ +% program : RTKPOST-QT ver.2.4.3 Emlid b28 +% inp file : /home/fherrero/Desktop/rtk_data/may17_street/rover/raw_201805171357.obs +% inp file : /home/fherrero/Desktop/rtk_data/may17_street/base/raw_201805171405.obs +% inp file : /home/fherrero/Desktop/rtk_data/may17_street/rover/raw_201805171357.nav +% obs start : 2018/05/17 14:01:02.0 GPST (week2001 396062.0s) +% obs end : 2018/05/17 14:42:08.6 GPST (week2001 398528.6s) +% ref pos : 41.383326247 2.117100983 105.6453 +% +% (lat/lon/height=WGS84/ellipsoidal,Q=1:fix,2:float,3:sbas,4:dgps,5:single,6:ppp,ns=# of satellites) +% GPST latitude(deg) longitude(deg) height(m) Q ns sdn(m) sde(m) sdu(m) sdne(m) sdeu(m) sdun(m) age(s) ratio +2018/05/17 14:01:02.002 41.383293114 2.116101115 -91.6641 5 5 11.9771 18.8489 79.2352 -14.4364 38.1163 -29.5030 -330.00 0.0 + diff --git a/src/navigation.cpp b/src/navigation.cpp new file mode 100644 index 0000000000000000000000000000000000000000..77cfc2a68a989182ac6aa784740212ae7a2d8b4e --- /dev/null +++ b/src/navigation.cpp @@ -0,0 +1,641 @@ +#include "../include/navigation.h" + + +using namespace GNSSUtils; + +Navigation::Navigation() +{ + +} + +Navigation::~Navigation() +{ + this->clearNavigation(); +} + +void Navigation::clearNavigation() +{ + this->deleteEphemeris(); + this->deleteGLONASSEphemeris(); + this->deleteSBASEphemeris(); + + this->deleteAlmanac(); + + this->deleteUTCGPS(); + this->deleteUTCGlo(); + this->deleteUTCGal(); + this->deleteUTCQZS(); + this->deleteUTCCMP(); + this->deleteUTCSBAS(); + + this->deleteIonGPS(); + this->deleteIonGal(); + this->deleteIonQZS(); + this->deleteIonCMP(); + + this->deletelam(); + this->deletecbias(); + + this->deletewlbias(); + this->deleteglocpbias(); + this->deleteglofcn(); + + this->deletepcv(); + this->deletesbsion(); +} + +void Navigation::setNavigation(nav_t nav) +{ + this->allocateEphemeris(nav.n); + this->allocateGLONASSEphemeris(nav.ng); + this->allocateSBASEphemeris(nav.ns); + + this->allocateAlmanac(nav.na); + + this->allocateUTCGPS(4); + this->allocateUTCGlo(4); + this->allocateUTCGal(4); + this->allocateUTCQZS(4); + this->allocateUTCCMP(4); + this->allocateUTCSBAS(4); + + this->allocateIonGPS(8); + this->allocateIonGal(4); + this->allocateIonQZS(8); + this->allocateIonCMP(8); + + this->allocatelam(MAXSAT*NFREQ); + this->allocatecbias(MAXSAT*3); + + this->allocatewlbias(MAXSAT); + this->allocateglocpbias(4); + this->allocateglofcn(MAXPRNGLO+1); + + this->allocatepcv(MAXSAT); + this->allocatesbsion(MAXBAND+1); + + + _nav = nav; +} + +nav_t Navigation::getNavigation() +{ + return this->_nav; +} + + +/****************** Array memory management ******************/ + + +void Navigation::allocateEphemeris(int n) +{ + if (_nav.eph) + { + _nav.eph = (eph_t *)realloc(_nav.eph, n * sizeof(eph_t)); + } + + else + { + _nav.eph = (eph_t *) malloc(n * sizeof(eph_t)); + } +} + +void Navigation::deleteEphemeris() +{ + if (_nav.eph) + { + free(_nav.eph); + } + + else + { + // Do nothing + } +} + +void Navigation::allocateGLONASSEphemeris(int n) +{ + if (_nav.geph) + { + _nav.geph = (geph_t *)realloc(_nav.geph, n * sizeof(geph_t)); + } + + else + { + _nav.geph = (geph_t *) malloc(n * sizeof(geph_t)); + } +} + +void Navigation::deleteGLONASSEphemeris() +{ + if (_nav.geph) + { + free(_nav.geph); + } + + else + { + // Do nothing + } +} + +void Navigation::allocateSBASEphemeris(int n) +{ + if (_nav.seph) + { + _nav.seph = (seph_t *)realloc(_nav.seph, n * sizeof(seph_t)); + } + + else + { + _nav.seph = (seph_t *) malloc(n * sizeof(seph_t)); + } +} + +void Navigation::deleteSBASEphemeris() +{ + if (_nav.seph) + { + free(_nav.seph); + } + + else + { + // Do nothing + } +} + +void Navigation::allocateAlmanac(int n) +{ + if (_nav.alm) + { + _nav.alm = (alm_t *)realloc(_nav.alm, n * sizeof(alm_t)); + } + + else + { + _nav.alm = (alm_t *) malloc(n * sizeof(alm_t)); + } +} + +void Navigation::deleteAlmanac() +{ + if (_nav.alm) + { + free(_nav.alm); + } + + else + { + // Do nothing + } +} + +// UTC + +void Navigation::allocateUTCGPS(int n) //GPS +{ + if (_nav.utc_gps) + { + _nav.utc_gps = (double *)realloc(_nav.utc_gps, n * sizeof(double)); + } + + else + { + _nav.utc_gps = (double *) malloc(n * sizeof(double)); + } +} + +void Navigation::deleteUTCGPS() +{ + if (_nav.utc_gps) + { + free(_nav.utc_gps); + } + + else + { + // Do nothing + } +} + +void Navigation::allocateUTCGlo(int n) //GLONASS +{ + if (_nav.utc_glo) + { + _nav.utc_glo = (double *)realloc(_nav.utc_glo, n * sizeof(double)); + } + + else + { + _nav.utc_glo = (double *) malloc(n * sizeof(double)); + } +} + +void Navigation::deleteUTCGlo() +{ + if (_nav.utc_glo) + { + free(_nav.utc_glo); + } + + else + { + // Do nothing + } +} + +void Navigation::allocateUTCGal(int n) //Galileo +{ + if (_nav.utc_gal) + { + _nav.utc_gal = (double *)realloc(_nav.utc_gal, n * sizeof(double)); + } + + else + { + _nav.utc_gal = (double *) malloc(n * sizeof(double)); + } +} + +void Navigation::deleteUTCGal() +{ + if (_nav.utc_gal) + { + free(_nav.utc_gal); + } + + else + { + // Do nothing + } +} + +void Navigation::allocateUTCQZS(int n) //QZS +{ + if (_nav.utc_qzs) + { + _nav.utc_qzs = (double *)realloc(_nav.utc_qzs, n * sizeof(double)); + } + + else + { + _nav.utc_qzs = (double *) malloc(n * sizeof(double)); + } +} + +void Navigation::deleteUTCQZS() +{ + if (_nav.utc_qzs) + { + free(_nav.utc_qzs); + } + + else + { + // Do nothing + } +} + +void Navigation::allocateUTCCMP(int n) //BeiDou +{ + if (_nav.utc_cmp) + { + _nav.utc_cmp = (double *)realloc(_nav.utc_cmp, n * sizeof(double)); + } + + else + { + _nav.utc_cmp = (double *) malloc(n * sizeof(double)); + } +} + +void Navigation::deleteUTCCMP() +{ + if (_nav.utc_cmp) + { + free(_nav.utc_cmp); + } + + else + { + // Do nothing + } +} + +void Navigation::allocateUTCSBAS(int n) //SBAS +{ + if (_nav.utc_sbs) + { + _nav.utc_sbs = (double *)realloc(_nav.utc_sbs, n * sizeof(double)); + } + + else + { + _nav.utc_sbs = (double *) malloc(n * sizeof(double)); + } +} + +void Navigation::deleteUTCSBAS() +{ + if (_nav.utc_sbs) + { + free(_nav.utc_sbs); + } + + else + { + // Do nothing + } +} + +// Ionosphere + +void Navigation::allocateIonGPS(int n) //GPS +{ + if (_nav.ion_gps) + { + _nav.ion_gps = (double *)realloc(_nav.ion_gps, n * sizeof(double)); + } + + else + { + _nav.ion_gps = (double *) malloc(n * sizeof(double)); + } +} + +void Navigation::deleteIonGPS() +{ + if (_nav.ion_gps) + { + free(_nav.ion_gps); + } + + else + { + // Do nothing + } +} + +void Navigation::allocateIonGal(int n) //Galileo +{ + if (_nav.utc_gal) + { + _nav.utc_gal = (double *)realloc(_nav.utc_gal, n * sizeof(double)); + } + + else + { + _nav.utc_gal = (double *) malloc(n * sizeof(double)); + } +} + +void Navigation::deleteIonGal() +{ + if (_nav.utc_gal) + { + free(_nav.utc_gal); + } + + else + { + // Do nothing + } +} + +void Navigation::allocateIonQZS(int n) //QZS +{ + if (_nav.utc_qzs) + { + _nav.utc_qzs = (double *)realloc(_nav.utc_qzs, n * sizeof(double)); + } + + else + { + _nav.utc_qzs = (double *) malloc(n * sizeof(double)); + } +} + +void Navigation::deleteIonQZS() +{ + if (_nav.utc_qzs) + { + free(_nav.utc_qzs); + } + + else + { + // Do nothing + } +} + +void Navigation::allocateIonCMP(int n) //BeiDou +{ + if (_nav.utc_cmp) + { + _nav.utc_cmp = (double *)realloc(_nav.utc_cmp, n * sizeof(double)); + } + + else + { + _nav.utc_cmp = (double *) malloc(n * sizeof(double)); + } +} + +void Navigation::deleteIonCMP() +{ + if (_nav.utc_cmp) + { + free(_nav.utc_cmp); + } + + else + { + // Do nothing + } +} + +// Others + +void Navigation::allocatelam(int n) +{ + if (_nav.lam) + { + _nav.lam = (double *)realloc(_nav.lam, n * sizeof(double)); + } + + else + { + _nav.lam = (double *) malloc(n * sizeof(double)); + } +} + +void Navigation::deletelam() +{ + if (_nav.lam) + { + free(_nav.lam); + } + + else + { + // Do nothing + } +} + +void Navigation::allocatecbias(int n) +{ + if (_nav.cbias) + { + _nav.cbias = (double *)realloc(_nav.cbias, n * sizeof(double)); + } + + else + { + _nav.cbias = (double *) malloc(n * sizeof(double)); + } +} + +void Navigation::deletecbias() +{ + if (_nav.cbias) + { + free(_nav.cbias); + } + + else + { + // Do nothing + } +} + +void Navigation::allocatewlbias(int n) +{ + if (_nav.wlbias) + { + _nav.wlbias = (double *)realloc(_nav.wlbias, n * sizeof(double)); + } + + else + { + _nav.wlbias = (double *) malloc(n * sizeof(double)); + } +} + +void Navigation::deletewlbias() +{ + if (_nav.wlbias) + { + free(_nav.wlbias); + } + + else + { + // Do nothing + } +} + +void Navigation::allocateglocpbias(int n) +{ + if (_nav.glo_cpbias) + { + _nav.glo_cpbias = (double *)realloc(_nav.glo_cpbias, n * sizeof(double)); + } + + else + { + _nav.glo_cpbias = (double *) malloc(n * sizeof(double)); + } +} + +void Navigation::deleteglocpbias() +{ + if (_nav.glo_cpbias) + { + free(_nav.glo_cpbias); + } + + else + { + // Do nothing + } +} + +void Navigation::allocateglofcn(int n) +{ + if (_nav.glo_fcn) + { + _nav.glo_fcn = (char *)realloc(_nav.glo_fcn, n * sizeof(char)); + } + + else + { + _nav.glo_fcn = (char *) malloc(n * sizeof(char)); + } +} + +void Navigation::deleteglofcn() +{ + if (_nav.glo_fcn) + { + free(_nav.glo_fcn); + } + + else + { + // Do nothing + } +} + +void Navigation::allocatepcv(int n) +{ + if (_nav.pcvs) + { + _nav.pcvs = (pcv_t *)realloc(_nav.pcvs, n * sizeof(pcv_t)); + } + + else + { + _nav.pcvs = (pcv_t*) malloc(n * sizeof(pcv_t)); + } +} + +void Navigation::deletepcv() +{ + if (_nav.pcvs) + { + free(_nav.pcvs); + } + + else + { + // Do nothing + } +} + +void Navigation::allocatesbsion(int n) +{ + if (_nav.sbsion) + { + _nav.sbsion = (sbsion_t *)realloc(_nav.sbsion, n * sizeof(sbsion_t)); + } + + else + { + _nav.sbsion = (sbsion_t*) malloc(n * sizeof(sbsion_t)); + } +} + +void Navigation::deletesbsion() +{ + if (_nav.sbsion) + { + free(_nav.sbsion); + } + + else + { + // Do nothing + } +} + diff --git a/src/observations.cpp b/src/observations.cpp new file mode 100644 index 0000000000000000000000000000000000000000..ddd321c0dcaa9ef3f2e219dbbc13b7135ab0c31f --- /dev/null +++ b/src/observations.cpp @@ -0,0 +1,35 @@ +#include "../include/observations.h" + +using namespace GNSSUtils; + + +Observations::Observations() +{ + +} + +Observations::~Observations() +{ + this->_obsVector.erase(_obsVector.begin(), _obsVector.end()); +} + +void Observations::clearObservations() +{ + this->_obsVector.clear(); +} + +void Observations::pushObservation(obsd_t obs) +{ + this->_obsVector.push_back(obs); +} + +std::vector<obsd_t> Observations::getObservations() +{ + return this->_obsVector; +} + + + + + +