From c0ce0584ddd1f9fd2b7f719682307f79018f8145 Mon Sep 17 00:00:00 2001
From: PepMS <jmarti@iri.upc.edu>
Date: Mon, 18 Nov 2019 08:29:05 +0100
Subject: [PATCH] Print and reorganizing
---
include/gnss_utils/gnss_utils.h | 8 ----
include/gnss_utils/observations.h | 2 +
include/gnss_utils/utils.h | 23 +++++++++++
src/CMakeLists.txt | 4 +-
src/gnss_utils.cpp | 59 ---------------------------
src/observations.cpp | 12 +++---
src/utils.cpp | 66 +++++++++++++++++++++++++++++++
7 files changed, 100 insertions(+), 74 deletions(-)
create mode 100644 include/gnss_utils/utils.h
create mode 100644 src/utils.cpp
diff --git a/include/gnss_utils/gnss_utils.h b/include/gnss_utils/gnss_utils.h
index 197232c..6260309 100644
--- a/include/gnss_utils/gnss_utils.h
+++ b/include/gnss_utils/gnss_utils.h
@@ -18,8 +18,6 @@ extern "C"
#include "rtklib.h"
}
-#define GNSSUTILS_MSG "--GNSSUtils--"
-
namespace GNSSUtils
{
struct ComputePosOutput{
@@ -45,12 +43,6 @@ namespace GNSSUtils
const prcopt_t & _prcopt);
Eigen::Vector3d ecefToLatLon(const Eigen::Vector3d & _ecef);
-
- void print(std::string & _msg);
- void printArray(std::string _name, int * _array, int size);
- void printArray(std::string _name, unsigned char * _array, int size);
- void printArray(std::string _name, double * _array, int size);
- void printArray(std::string _name, float * _array, int size);
}
#endif
diff --git a/include/gnss_utils/observations.h b/include/gnss_utils/observations.h
index b1e6ab2..e84820c 100644
--- a/include/gnss_utils/observations.h
+++ b/include/gnss_utils/observations.h
@@ -5,6 +5,8 @@
#include <iostream>
#include <memory>
+#include "gnss_utils/utils.h"
+
extern "C"
{
#include "rtklib.h"
diff --git a/include/gnss_utils/utils.h b/include/gnss_utils/utils.h
new file mode 100644
index 0000000..4d19e40
--- /dev/null
+++ b/include/gnss_utils/utils.h
@@ -0,0 +1,23 @@
+#ifndef UTILS_H
+#define UTILS_H
+
+#include <vector>
+#include <iostream>
+#include <memory>
+#include <string>
+
+#define ARRAY_SIZE(arr) sizeof(arr)/sizeof(arr[0])
+#define GNSSUTILS_MSG "--GNSSUtils--"
+
+namespace GNSSUtils
+{
+
+
+ void print(std::string & _msg);
+ void printArray(std::string _name, int * _array, int size);
+ void printArray(std::string _name, unsigned char * _array, int size);
+ void printArray(std::string _name, double * _array, int size);
+ void printArray(std::string _name, float * _array, int size);
+}
+
+#endif
\ No newline at end of file
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index de5d77d..bf6f31f 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -6,7 +6,8 @@ SET(RTKLIB_SRC_DIR ${RTKLIB_DIR}/src)
SET(SOURCES
gnss_utils.cpp
observations.cpp
- navigation.cpp)
+ navigation.cpp
+ utils.cpp)
SET(RTKLIB_SRC
${RTKLIB_SRC_DIR}/pntpos.c
@@ -26,6 +27,7 @@ SET(RTKLIB_SRC
# application header files
SET(HEADERS
../include/gnss_utils/gnss_utils.h
+ ../include/gnss_utils/utils.h
../include/gnss_utils/observations.h
../include/gnss_utils/navigation.h
${RTKLIB_SRC_DIR}/rtklib.h)
diff --git a/src/gnss_utils.cpp b/src/gnss_utils.cpp
index a976c3b..dcc3f24 100644
--- a/src/gnss_utils.cpp
+++ b/src/gnss_utils.cpp
@@ -61,63 +61,4 @@ namespace GNSSUtils
return Eigen::Vector3d(pos);
}
- void print(std::string & _msg)
- {
- std::string msg = GNSSUTILS_MSG + _msg;
-
- std::cout << msg << "\n";
-
- }
-
- void printArray(std::string _name, int * _array, int size)
- {
- std::cout << _name << ": [";
- for (int ii=0; ii<size; ++ii)
- {
- std::cout << _array[ii];
- if (ii==size-1)
- std::cout << "] \n";
- else
- std::cout << ",";
- }
- }
-
- void printArray(std::string _name, unsigned char * _array, int size)
- {
- std::cout << _name << ": [";
- for (int ii=0; ii<size; ++ii)
- {
- std::cout << (unsigned)_array[ii];
- if (ii==size-1)
- std::cout << "] \n";
- else
- std::cout << ",";
- }
- }
-
- void printArray(std::string _name, double * _array, int size)
- {
- std::cout << _name << ": [";
- for (int ii=0; ii<size; ++ii)
- {
- std::cout << _array[ii];
- if (ii==size-1)
- std::cout << "] \n";
- else
- std::cout << ",";
- }
- }
-
- void printArray(std::string _name, float * _array, int size)
- {
- std::cout << _name << ": [";
- for (int ii=0; ii<size; ++ii)
- {
- std::cout << _array[ii];
- if (ii==size-1)
- std::cout << "] \n";
- else
- std::cout << ",";
- }
- }
}
diff --git a/src/observations.cpp b/src/observations.cpp
index 9892903..4ef5448 100644
--- a/src/observations.cpp
+++ b/src/observations.cpp
@@ -40,12 +40,12 @@ void Observations::print(obsd_t & _obs)
std::string msg = "Observation of satellite #" + std::to_string(_obs.sat);
GNSSUtils::print(msg);
std::cout << "Time [s]: " << _obs.time.time << "\n";
- printArray("SNR: ", _obs.SNR, sizeof(_obs.SNR) / sizeof(_obs.SNR[0]));
- printArray("LLI: ", _obs.LLI, sizeof(_obs.LLI) / sizeof(_obs.LLI[0]));
- printArray("code: ", _obs.code, sizeof(_obs.code) / sizeof(_obs.code[0]));
- printArray("L: ", _obs.L, sizeof(_obs.L) / sizeof(_obs.L));
- printArray("P: ", _obs.P, sizeof(_obs.P) / sizeof(_obs.P));
- printArray("D: ", _obs.D, sizeof(_obs.D) / sizeof(_obs.D));
+ printArray("SNR: ", _obs.SNR, ARRAY_SIZE(_obs.SNR));
+ printArray("LLI: ", _obs.LLI, ARRAY_SIZE(_obs.LLI));
+ printArray("code: ", _obs.code, ARRAY_SIZE(_obs.code));
+ printArray("L: ", _obs.L, ARRAY_SIZE(_obs.L));
+ printArray("P: ", _obs.P, ARRAY_SIZE(_obs.P));
+ printArray("D: ", _obs.D, ARRAY_SIZE(_obs.D));
}
void Observations::print(int _obs_idx)
diff --git a/src/utils.cpp b/src/utils.cpp
new file mode 100644
index 0000000..3e41a0e
--- /dev/null
+++ b/src/utils.cpp
@@ -0,0 +1,66 @@
+#include "gnss_utils/utils.h"
+
+
+namespace GNSSUtils
+{
+void print(std::string & _msg)
+ {
+ std::string msg = GNSSUTILS_MSG + _msg;
+
+ std::cout << msg << "\n";
+
+ }
+
+ void printArray(std::string _name, int * _array, int size)
+ {
+ std::cout << _name << ": [";
+ for (int ii=0; ii<size; ++ii)
+ {
+ std::cout << _array[ii];
+ if (ii==size-1)
+ std::cout << "] \n";
+ else
+ std::cout << ",";
+ }
+ }
+
+ void printArray(std::string _name, unsigned char * _array, int size)
+ {
+ std::cout << _name << ": [";
+ for (int ii=0; ii<size; ++ii)
+ {
+ std::cout << (unsigned)_array[ii];
+ if (ii==size-1)
+ std::cout << "] \n";
+ else
+ std::cout << ",";
+ }
+ }
+
+ void printArray(std::string _name, double * _array, int size)
+ {
+ std::cout << _name << ": [";
+ for (int ii=0; ii<size; ++ii)
+ {
+ std::cout << _array[ii];
+ if (ii==size-1)
+ std::cout << "] \n";
+ else
+ std::cout << ",";
+ }
+ }
+
+ void printArray(std::string _name, float * _array, int size)
+ {
+ std::cout << _name << ": [";
+ for (int ii=0; ii<size; ++ii)
+ {
+ std::cout << _array[ii];
+ if (ii==size-1)
+ std::cout << "] \n";
+ else
+ std::cout << ",";
+ }
+ }
+
+}
\ No newline at end of file
--
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