diff --git a/include/gnss_utils/utils/utils.h b/include/gnss_utils/utils/utils.h
index a107051641c6063ebfd6383e0682a741d8d6b605..72a1d77739e4a5574f07a779592122b9af9a11d8 100644
--- a/include/gnss_utils/utils/utils.h
+++ b/include/gnss_utils/utils/utils.h
@@ -8,6 +8,7 @@
#include "gnss_utils/internal/config.h"
#include "gnss_utils/gnss_utils.h"
+#include "gnss_utils/observations.h"
#define ARRAY_SIZE(arr) sizeof(arr) / sizeof(arr[0])
#define ARRAY2D_NROWS(arr) sizeof(arr) / sizeof(arr[0])
@@ -165,6 +166,9 @@ bool equalArray3d(const T* array_1,
return true;
}
+std::vector<Observations>
+loadObservationsFromRinex(const std::string& rnx_file, gtime_t t_start, gtime_t t_end, double dt, const char* opt);
+
} // namespace GnssUtils
bool operator==(const gtime_t& time1, const gtime_t& time2);
diff --git a/src/examples/gnss_utils_test.cpp b/src/examples/gnss_utils_test.cpp
index fba3b7f10045cd17d2238b30834b8f0c8f53e6f6..2f0ab31591b340302340d1cd9dbebb5dea11fa78 100644
--- a/src/examples/gnss_utils_test.cpp
+++ b/src/examples/gnss_utils_test.cpp
@@ -1,6 +1,7 @@
#include "gnss_utils/observations.h"
#include "gnss_utils/navigation.h"
#include "gnss_utils/utils/transformations.h"
+#include "gnss_utils/utils/utils.h"
#include <typeinfo>
@@ -33,8 +34,19 @@ int main(int argc, char* argv[])
const char* opt = ""; // only GPS | GPS+GAL: "-SYS=G,L" | ALL: ""
// load observations from RINEX file
- observations.loadFromRinex("../src/examples/sample_data.obs", t_start, t_end, dt, opt);
- observations.print();
+ std::vector<Observations> obs_rinex =
+ loadObservationsFromRinex("../src/examples/rover_sample.obs", t_start, t_end, dt, opt);
+
+ std::cout << "Number of epochs: " << obs_rinex.size() << std::endl;
+
+ observations = obs_rinex.back();
+ for (auto obs = observations.getObservations().begin(); obs != observations.getObservations().end(); ++obs)
+ {
+ printf("Satellite number: %u \n",obs->sat);
+ }
+
+ // observations = obs_rinex[0];
+ // observations.print();
// RTKLIB trace
// char str_file[80];
@@ -43,61 +55,63 @@ int main(int argc, char* argv[])
// traceopen(str_file);
// load navigation from RINEX file
- navigation.loadFromRinex("../src/examples/sample_data.nav", t_start, t_end, dt, opt);
- navigation.print();
+ // navigation.loadFromRinex("../src/examples/sample_data.nav", t_start, t_end, dt, opt);
+ // navigation.print();
- // Trace close
- // traceclose();
+ // // Trace close
+ // // traceclose();
- /* Set processing options */
+ // /* Set processing options */
- /* header */
- std::cout << "------------------" << std::endl;
- std::cout << "Processing options" << std::endl;
- std::cout << "------------------" << std::endl;
-
- prcopt_t prcopt = prcopt_default;
- prcopt.mode = PMODE_SINGLE;
- prcopt.soltype = 0;
- prcopt.nf = 1;
- prcopt.navsys = SYS_GPS;
- prcopt.elmin = 0.525; // 60 degrees = 1.05 rad
- prcopt.sateph = EPHOPT_BRDC;
- prcopt.ionoopt = IONOOPT_OFF;
- prcopt.tropopt = TROPOPT_OFF;
- prcopt.dynamics = 0;
- prcopt.tidecorr = 0;
- prcopt.sbascorr = SBSOPT_FCORR;
- prcopt.ru[0] = 0; // 4789374.0336;
- prcopt.ru[1] = 0; // 177048.3292;
- prcopt.ru[2] = 0; // 4194542.6444;
-
- std::cout << "Processing options defined" << std::endl;
-
- Eigen::Vector3d lla_gt(41.383293114 * M_PI / 180.0, 2.116101115 * M_PI / 180.0, -91.6641);
-
- // Compute spp
+ // /* header */
+ // std::cout << "------------------" << std::endl;
+ // std::cout << "Processing options" << std::endl;
+ // std::cout << "------------------" << std::endl;
- /* header */
- std::cout << "-----------" << std::endl;
- std::cout << "pntpos call" << std::endl;
- std::cout << "-----------" << std::endl;
+ // prcopt_t prcopt = prcopt_default;
+ // prcopt.mode = PMODE_SINGLE;
+ // prcopt.soltype = 0;
+ // prcopt.nf = 1;
+ // prcopt.navsys = SYS_GPS;
+ // prcopt.elmin = 0.525; // 60 degrees = 1.05 rad
+ // prcopt.sateph = EPHOPT_BRDC;
+ // prcopt.ionoopt = IONOOPT_OFF;
+ // prcopt.tropopt = TROPOPT_OFF;
+ // prcopt.dynamics = 0;
+ // prcopt.tidecorr = 0;
+ // prcopt.sbascorr = SBSOPT_FCORR;
+ // prcopt.ru[0] = 0; // 4789374.0336;
+ // prcopt.ru[1] = 0; // 177048.3292;
+ // prcopt.ru[2] = 0; // 4194542.6444;
- int stat;
+ // std::cout << "Processing options defined" << std::endl;
- sol_t solb = { { 0 } };
+ // Eigen::Vector3d lla_gt(41.383293114 * M_PI / 180.0, 2.116101115 * M_PI / 180.0, -91.6641);
- char msg[128] = "";
+ // // Compute spp
- stat = pntpos(observations.data(), observations.size(), &navigation.getNavigation(), &prcopt, &solb, NULL, NULL, msg);
+ // /* header */
+ // std::cout << "-----------" << std::endl;
+ // std::cout << "pntpos call" << std::endl;
+ // std::cout << "-----------" << std::endl;
- std::cout << "msg: " << msg << std::endl;
- std::cout << "sol.stat: " << int(solb.stat) << std::endl;
- std::cout << "Position: " << solb.rr[0] << ", " << solb.rr[1] << ", " << solb.rr[2] << std::endl;
- std::cout << "Position (GT): " << latLonAltToEcef(lla_gt).transpose() << std::endl;
- std::cout << "Position LLA: " << ecefToLatLonAlt(Eigen::Vector3d(solb.rr[0], solb.rr[1], solb.rr[2])).transpose()
- << std::endl;
- std::cout << "Position LLA (GT): " << lla_gt.transpose() << std::endl;
+ // int stat;
- traceclose();
+ // sol_t solb = { { 0 } };
+
+ // char msg[128] = "";
+
+ // stat = pntpos(observations.data(), observations.size(), &navigation.getNavigation(), &prcopt, &solb, NULL, NULL,
+ // msg);
+
+ // std::cout << "msg: " << msg << std::endl;
+ // std::cout << "sol.stat: " << int(solb.stat) << std::endl;
+ // std::cout << "Position: " << solb.rr[0] << ", " << solb.rr[1] << ", " << solb.rr[2] << std::endl;
+ // std::cout << "Position (GT): " << latLonAltToEcef(lla_gt).transpose() << std::endl;
+ // std::cout << "Position LLA: " << ecefToLatLonAlt(Eigen::Vector3d(solb.rr[0], solb.rr[1],
+ // solb.rr[2])).transpose()
+ // << std::endl;
+ // std::cout << "Position LLA (GT): " << lla_gt.transpose() << std::endl;
+
+ // traceclose();
}
diff --git a/src/utils/utils.cpp b/src/utils/utils.cpp
index ce565b86ceed99855aefb54358ec006b38a41c90..2cb59ab57b524b097f0e756542bb64ea235aff1b 100644
--- a/src/utils/utils.cpp
+++ b/src/utils/utils.cpp
@@ -9,6 +9,55 @@ void print(std::string& _msg)
std::cout << msg << "\n";
}
+std::vector<Observations>
+loadObservationsFromRinex(const std::string& rnx_file, gtime_t t_start, gtime_t t_end, double dt, const char* opt)
+{
+ obs_t obs;
+ obs.data = (obsd_t*)malloc(sizeof(obsd_t) * MAXSAT);
+ obs.n = 0;
+ obs.nmax = MAXSAT;
+
+ // const char* opt = "";
+ auto stat = readrnxt(rnx_file.c_str(), 1, t_start, t_end, dt, opt, &obs, NULL, NULL);
+ int n_epochs;
+ if (stat == 1)
+ n_epochs = sortobs(&obs);
+ else
+ {
+ std::cout << "Observation: couldn't load provided observation file, reason: " << (stat == 0 ? "no data" : "error")
+ << stat << std::endl;
+ return;
+ }
+
+ std::vector<Observations> obs_vector;
+ obs_vector.reserve(n_epochs);
+
+ Observations obs_epoch;
+ for (int i = 0; i < obs.n; i++)
+ {
+ obs_epoch.addObservation(obs.data[i]);
+
+ bool last_obs_epoch = false;
+ if (i < obs.n - 1)
+ {
+ double tt = timediff(obs.data[i].time, obs.data[i + 1].time);
+ if (fabs(tt) > DTTOL)
+ {
+ obs_vector.push_back(obs_epoch);
+ obs_epoch.clearObservations();
+ }
+ }
+ else
+ {
+ obs_vector.push_back(obs_epoch);
+ }
+ }
+
+ free(obs.data);
+
+ return obs_vector;
+}
+
} // namespace GnssUtils
bool operator==(const gtime_t& time1, const gtime_t& time2)
diff --git a/test/gtest_observations.cpp b/test/gtest_observations.cpp
index cbb25d72d1863ea094dd2bd83cc28c3a8f60a5d6..4b0699d64a63e1993756412e1970209b1a3ebe1d 100644
--- a/test/gtest_observations.cpp
+++ b/test/gtest_observations.cpp
@@ -55,7 +55,9 @@ TEST(ObservationsTest, LoadFromRinex)
// GnssUtils utilities
Observations observations;
- observations.loadFromRinex(rnx_file.c_str(), t_start, t_end, dt, opt);
+
+ std::vector<Observations> obs_rinex = loadObservationsFromRinex(rnx_file.c_str(), t_start, t_end, dt, opt);
+ observations = obs_rinex[0];
ASSERT_EQ(obs.n, 18);
@@ -75,7 +77,9 @@ TEST(ObservationsTest, GetObservationBySat)
loadRinex(obs);
Observations observations;
- observations.loadFromRinex(rnx_file.c_str(), t_start, t_end, dt, opt);
+
+ std::vector<Observations> obs_rinex = loadObservationsFromRinex(rnx_file.c_str(), t_start, t_end, dt, opt);
+ observations = obs_rinex[0];
for (int ii = 0; ii < obs.n; ++ii)
{
@@ -90,7 +94,9 @@ TEST(ObservationsTest, GetObservationByIdx)
loadRinex(obs);
Observations observations;
- observations.loadFromRinex(rnx_file.c_str(), t_start, t_end, dt, opt);
+
+ std::vector<Observations> obs_rinex = loadObservationsFromRinex(rnx_file.c_str(), t_start, t_end, dt, opt);
+ observations = obs_rinex[0];
for (int ii = 0; ii < obs.n; ++ii)
{
@@ -104,7 +110,9 @@ TEST(ObservationsTest, data)
loadRinex(obs);
Observations observations;
- observations.loadFromRinex(rnx_file.c_str(), t_start, t_end, dt, opt);
+
+ std::vector<Observations> obs_rinex = loadObservationsFromRinex(rnx_file.c_str(), t_start, t_end, dt, opt);
+ observations = obs_rinex[0];
for (int ii = 0; ii < obs.n; ++ii)
{
@@ -118,7 +126,9 @@ TEST(ObservationsTest, HasSatellite)
loadRinex(obs);
Observations observations;
- observations.loadFromRinex(rnx_file.c_str(), t_start, t_end, dt, opt);
+
+ std::vector<Observations> obs_rinex = loadObservationsFromRinex(rnx_file.c_str(), t_start, t_end, dt, opt);
+ observations = obs_rinex[0];
for (int ii = 0; ii < obs.n; ++ii)
{
@@ -129,7 +139,10 @@ TEST(ObservationsTest, HasSatellite)
TEST(ObservationsTest, FindCommonObservations)
{
Observations observations1;
- observations1.loadFromRinex(rnx_file.c_str(), t_start, t_end, dt, opt);
+
+ std::vector<Observations> obs_rinex = loadObservationsFromRinex(rnx_file.c_str(), t_start, t_end, dt, opt);
+ observations1 = obs_rinex[0];
+
Observations observations2(observations1);
ASSERT_TRUE(observations1 == observations2);
@@ -140,15 +153,17 @@ TEST(ObservationsTest, FindCommonObservations)
ASSERT_TRUE(common_sats.size() == observations2.size());
for (auto sat : common_sats)
{
- ASSERT_TRUE(observations1.hasSatellite(sat));
- ASSERT_TRUE(observations2.hasSatellite(sat));
+ ASSERT_TRUE(observations1.hasSatellite(sat));
+ ASSERT_TRUE(observations2.hasSatellite(sat));
}
}
TEST(ObservationsTest, FindCommonObservationsRemoved)
{
Observations observations1;
- observations1.loadFromRinex(rnx_file.c_str(), t_start, t_end, dt, opt);
+
+ std::vector<Observations> obs_rinex = loadObservationsFromRinex(rnx_file.c_str(), t_start, t_end, dt, opt);
+ observations1 = obs_rinex[0];
Observations observations2(observations1);
// Remove first observation of observations2
@@ -161,15 +176,18 @@ TEST(ObservationsTest, FindCommonObservationsRemoved)
ASSERT_TRUE(common_sats.size() == observations2.size());
for (auto sat : common_sats)
{
- ASSERT_TRUE(observations1.hasSatellite(sat));
- ASSERT_TRUE(observations2.hasSatellite(sat));
+ ASSERT_TRUE(observations1.hasSatellite(sat));
+ ASSERT_TRUE(observations2.hasSatellite(sat));
}
}
TEST(ObservationsTest, FindCommonObservationsChangeTime)
{
Observations observations1;
- observations1.loadFromRinex(rnx_file.c_str(), t_start, t_end, dt, opt);
+
+ std::vector<Observations> obs_rinex = loadObservationsFromRinex(rnx_file.c_str(), t_start, t_end, dt, opt);
+ observations1 = obs_rinex[0];
+
Observations observations2(observations1);
// Change time
@@ -184,8 +202,8 @@ TEST(ObservationsTest, FindCommonObservationsChangeTime)
ASSERT_TRUE(common_sats.size() == observations2.size());
for (auto sat : common_sats)
{
- ASSERT_TRUE(observations1.hasSatellite(sat));
- ASSERT_TRUE(observations2.hasSatellite(sat));
+ ASSERT_TRUE(observations1.hasSatellite(sat));
+ ASSERT_TRUE(observations2.hasSatellite(sat));
}
}