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Commit c0ce0584 authored by Pep Martí Saumell's avatar Pep Martí Saumell
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Print and reorganizing

parent 22e7f4b7
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2 merge requests!20new tag,!19new tag
...@@ -18,8 +18,6 @@ extern "C" ...@@ -18,8 +18,6 @@ extern "C"
#include "rtklib.h" #include "rtklib.h"
} }
#define GNSSUTILS_MSG "--GNSSUtils--"
namespace GNSSUtils namespace GNSSUtils
{ {
struct ComputePosOutput{ struct ComputePosOutput{
...@@ -45,12 +43,6 @@ namespace GNSSUtils ...@@ -45,12 +43,6 @@ namespace GNSSUtils
const prcopt_t & _prcopt); const prcopt_t & _prcopt);
Eigen::Vector3d ecefToLatLon(const Eigen::Vector3d & _ecef); 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 #endif
...@@ -5,6 +5,8 @@ ...@@ -5,6 +5,8 @@
#include <iostream> #include <iostream>
#include <memory> #include <memory>
#include "gnss_utils/utils.h"
extern "C" extern "C"
{ {
#include "rtklib.h" #include "rtklib.h"
......
#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
...@@ -6,7 +6,8 @@ SET(RTKLIB_SRC_DIR ${RTKLIB_DIR}/src) ...@@ -6,7 +6,8 @@ SET(RTKLIB_SRC_DIR ${RTKLIB_DIR}/src)
SET(SOURCES SET(SOURCES
gnss_utils.cpp gnss_utils.cpp
observations.cpp observations.cpp
navigation.cpp) navigation.cpp
utils.cpp)
SET(RTKLIB_SRC SET(RTKLIB_SRC
${RTKLIB_SRC_DIR}/pntpos.c ${RTKLIB_SRC_DIR}/pntpos.c
...@@ -26,6 +27,7 @@ SET(RTKLIB_SRC ...@@ -26,6 +27,7 @@ SET(RTKLIB_SRC
# application header files # application header files
SET(HEADERS SET(HEADERS
../include/gnss_utils/gnss_utils.h ../include/gnss_utils/gnss_utils.h
../include/gnss_utils/utils.h
../include/gnss_utils/observations.h ../include/gnss_utils/observations.h
../include/gnss_utils/navigation.h ../include/gnss_utils/navigation.h
${RTKLIB_SRC_DIR}/rtklib.h) ${RTKLIB_SRC_DIR}/rtklib.h)
......
...@@ -61,63 +61,4 @@ namespace GNSSUtils ...@@ -61,63 +61,4 @@ namespace GNSSUtils
return Eigen::Vector3d(pos); 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 << ",";
}
}
} }
...@@ -40,12 +40,12 @@ void Observations::print(obsd_t & _obs) ...@@ -40,12 +40,12 @@ void Observations::print(obsd_t & _obs)
std::string msg = "Observation of satellite #" + std::to_string(_obs.sat); std::string msg = "Observation of satellite #" + std::to_string(_obs.sat);
GNSSUtils::print(msg); GNSSUtils::print(msg);
std::cout << "Time [s]: " << _obs.time.time << "\n"; std::cout << "Time [s]: " << _obs.time.time << "\n";
printArray("SNR: ", _obs.SNR, sizeof(_obs.SNR) / sizeof(_obs.SNR[0])); printArray("SNR: ", _obs.SNR, ARRAY_SIZE(_obs.SNR));
printArray("LLI: ", _obs.LLI, sizeof(_obs.LLI) / sizeof(_obs.LLI[0])); printArray("LLI: ", _obs.LLI, ARRAY_SIZE(_obs.LLI));
printArray("code: ", _obs.code, sizeof(_obs.code) / sizeof(_obs.code[0])); printArray("code: ", _obs.code, ARRAY_SIZE(_obs.code));
printArray("L: ", _obs.L, sizeof(_obs.L) / sizeof(_obs.L)); printArray("L: ", _obs.L, ARRAY_SIZE(_obs.L));
printArray("P: ", _obs.P, sizeof(_obs.P) / sizeof(_obs.P)); printArray("P: ", _obs.P, ARRAY_SIZE(_obs.P));
printArray("D: ", _obs.D, sizeof(_obs.D) / sizeof(_obs.D)); printArray("D: ", _obs.D, ARRAY_SIZE(_obs.D));
} }
void Observations::print(int _obs_idx) void Observations::print(int _obs_idx)
......
#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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