From fc77d8c5cbc722b4a36f5fb477623b4324327fb5 Mon Sep 17 00:00:00 2001 From: PepMS <jmarti@iri.upc.edu> Date: Mon, 1 Jul 2019 14:32:03 +0200 Subject: [PATCH] CMake and include paths --- Findgnss_utils.cmake | 5 +- include/{getPos.h => gnss_utils/gnss_utils.h} | 0 include/{ => gnss_utils}/navigation.h | 0 include/{ => gnss_utils}/observations.h | 0 src/CMakeLists.txt | 6 +-- src/examples/gnss_utils_test.cpp | 54 +++++++++---------- src/{getPos.cpp => gnss_utils.cpp} | 7 ++- src/navigation.cpp | 2 +- src/observations.cpp | 8 +-- 9 files changed, 37 insertions(+), 45 deletions(-) rename include/{getPos.h => gnss_utils/gnss_utils.h} (100%) rename include/{ => gnss_utils}/navigation.h (100%) rename include/{ => gnss_utils}/observations.h (100%) rename src/{getPos.cpp => gnss_utils.cpp} (91%) diff --git a/Findgnss_utils.cmake b/Findgnss_utils.cmake index ab421e2..4c0429f 100644 --- a/Findgnss_utils.cmake +++ b/Findgnss_utils.cmake @@ -1,9 +1,9 @@ #edit the following line to add the librarie's header files -FIND_PATH(gnss_utils_INCLUDE_DIR observations.h navigation.h /usr/include/iridrivers /usr/local/lib) +FIND_PATH(gnss_utils_INCLUDE_DIR observations.h navigation.h /usr/include/iridrivers /usr/local/include) FIND_LIBRARY(gnss_utils_LIBRARY NAMES gnss_utils - PATHS /usr/lib /usr/local/lib /usr/local/lib) + PATHS /usr/lib /usr/local/lib) IF (gnss_utils_INCLUDE_DIR AND gnss_utils_LIBRARY) SET(gnss_utils_FOUND TRUE) @@ -18,4 +18,3 @@ ELSE (gnss_utils_FOUND) MESSAGE(FATAL_ERROR "Could not find gnss_utils") ENDIF (gnss_utils_FIND_REQUIRED) ENDIF (gnss_utils_FOUND) - diff --git a/include/getPos.h b/include/gnss_utils/gnss_utils.h similarity index 100% rename from include/getPos.h rename to include/gnss_utils/gnss_utils.h diff --git a/include/navigation.h b/include/gnss_utils/navigation.h similarity index 100% rename from include/navigation.h rename to include/gnss_utils/navigation.h diff --git a/include/observations.h b/include/gnss_utils/observations.h similarity index 100% rename from include/observations.h rename to include/gnss_utils/observations.h diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt index e30d5c9..d6c0627 100644 --- a/src/CMakeLists.txt +++ b/src/CMakeLists.txt @@ -4,7 +4,7 @@ set(rtklib_src_dir ${rtklib_dir}/src) # driver source files SET(sources - getPos.cpp + gnss_utils.cpp observations.cpp navigation.cpp) @@ -16,7 +16,7 @@ SET(rtklib_src ${rtklib_src_dir}/preceph.c ${rtklib_src_dir}/qzslex.c ${rtklib_src_dir}/rtcm.c - ${rtklib_src_dir}/rtcm2.c + ${rtklib_src_dir}/rtcm2.c ${rtklib_src_dir}/rtcm3.c ${rtklib_src_dir}/rtcm3e.c ${rtklib_src_dir}/ionex.c @@ -42,7 +42,7 @@ FIND_PACKAGE(Boost REQUIRED) link_directories(/usr/lib/x86_64-linux-gnu/) # Adding include directories -INCLUDE_DIRECTORIES(. ${EIGEN3_INCLUDE_DIR} ${Boost_INCLUDE_DIRS} ${RTK_LIB_PATH}) +INCLUDE_DIRECTORIES(../include/ ${EIGEN3_INCLUDE_DIR} ${Boost_INCLUDE_DIRS} ${RTK_LIB_PATH}) # create the shared library ADD_LIBRARY(gnss_utils SHARED ${sources} ${rtklib_src}) diff --git a/src/examples/gnss_utils_test.cpp b/src/examples/gnss_utils_test.cpp index ad1074b..646299a 100644 --- a/src/examples/gnss_utils_test.cpp +++ b/src/examples/gnss_utils_test.cpp @@ -1,5 +1,5 @@ -#include "../../include/observations.h" -#include "../../include/navigation.h" +#include "gnss_utils/observations.h" +#include "gnss_utils/navigation.h" #include <typeinfo> @@ -9,7 +9,7 @@ extern "C" { - #include "/home/jlaplaza/RTKLIB/src/rinex.c" + #include "../deps/RTKLIB/src/rinex.c" } using namespace GNSSUtils; @@ -24,7 +24,7 @@ int createObsAndNav(Observations* observations, char* obs_path, Navigation* nav double te_d[] = {2018, 5, 17, 14, 42, 8}; gtime_t te = epoch2time(te_d); - double tint = 0.1; + double tint = 0.1; // Create options container char* opt = "-SYS=G"; @@ -51,25 +51,25 @@ int createObsAndNav(Observations* observations, char* obs_path, Navigation* nav obs.data[1].P[0] = 22348322.550; obs.data[2].P[0] = 20873167.574; obs.data[3].P[0] = 20920707.830; - + std::cout << "Obs number: " << obs.n << std::endl; - - + + } - - else + + else { std::cout << "Couldn't load provided observation file" << std::endl; return 0; } - - + + for (int i=0; i < obs.n; i++) { - std::cout << "time: " << time_str(obs.data[i].time, 3) << " | sat: " << int(obs.data[i].sat) << " | rcv: " << obs.data[i].rcv << - " | SNR: " << obs.data[i].SNR[0] << " | LLI: " << obs.data[i].LLI[0] << " | code: " << obs.data[i].code[0] << + std::cout << "time: " << time_str(obs.data[i].time, 3) << " | sat: " << int(obs.data[i].sat) << " | rcv: " << obs.data[i].rcv << + " | SNR: " << obs.data[i].SNR[0] << " | LLI: " << obs.data[i].LLI[0] << " | code: " << obs.data[i].code[0] << " | L: " << obs.data[i].L[0] << " | P: " << obs.data[i].P[0] << " | D: " << obs.data[i].D[0] << std::endl; observations->pushObservation(obs.data[i]); } @@ -92,17 +92,17 @@ int createObsAndNav(Observations* observations, char* obs_path, Navigation* nav std::cout << "GLONASS satellites in navigation file: " << nav.ng << std::endl; std::cout << "SBAS satellites in navigation file: " << nav.ns << std::endl; std::cout << "Almanac satellites in navigation file: " << nav.na << std::endl; - uniqnav(&nav); + uniqnav(&nav); } - - else + + else { std::cout << "Couldn't load provided navigation file" << std::endl; return 0; } - + /* Print Constellation Satellites ids */ for (int i=0;i<nav.n;i++) { @@ -118,7 +118,7 @@ int createObsAndNav(Observations* observations, char* obs_path, Navigation* nav { std::cout << i << " SBAS Sat Id: " << nav.seph[i].sat << std::endl; } - + /* Load nav into Navigation object*/ navigation->setNavigation(nav); @@ -141,12 +141,12 @@ int main(int argc, char *argv[]) // create Observations object - Observations observations; + Observations observations; // create Navigation object Navigation navigation; - createObsAndNav(&observations, "/home/jlaplaza/gitlab/gnss_utils/src/examples/raw_201805171357.obs", &navigation, "/home/jlaplaza/gitlab/gnss_utils/src/examples/raw_201805171357.nav"); + createObsAndNav(&observations, "../examples/raw_201805171357.obs", &navigation, "../examples/raw_201805171357.nav"); nav_t nav = navigation.getNavigation(); @@ -158,8 +158,8 @@ int main(int argc, char *argv[]) std::cout << "------------------" << std::endl; std::cout << "Processing options" << std::endl; std::cout << "------------------" << std::endl; - - prcopt_t prcopt = prcopt_default; + + prcopt_t prcopt = prcopt_default; prcopt.mode = PMODE_SINGLE; prcopt.soltype = 0; prcopt.nf = 1; @@ -176,8 +176,8 @@ int main(int argc, char *argv[]) prcopt.ru[2] = 4194542.6444; std::cout << "Processing options defined" << std::endl; - - + + //Compute spp /* header */ @@ -195,13 +195,13 @@ int main(int argc, char *argv[]) for (int i=0; i < obs.size(); i++) { - std::cout << "time: " << time_str(obs[i].time, 3) << " | sat: " << int(obs[i].sat) << " | rcv: " << obs[i].rcv << - " | SNR: " << obs[i].SNR[0] << " | LLI: " << obs[i].LLI[0] << " | code: " << obs[i].code[0] << + std::cout << "time: " << time_str(obs[i].time, 3) << " | sat: " << int(obs[i].sat) << " | rcv: " << obs[i].rcv << + " | SNR: " << obs[i].SNR[0] << " | LLI: " << obs[i].LLI[0] << " | code: " << obs[i].code[0] << " | L: " << obs[i].L[0] << " | P: " << obs[i].P[0] << " | D: " << obs[i].D[0] << std::endl; } std::cout << "obs.size(): " << obs.size() << std::endl; - + stat = pntpos(&obs[0], obs.size(), &nav, &prcopt, &solb, NULL, NULL, msg); std::cout << "msg: " << msg << std::endl; diff --git a/src/getPos.cpp b/src/gnss_utils.cpp similarity index 91% rename from src/getPos.cpp rename to src/gnss_utils.cpp index e250bb0..192710a 100644 --- a/src/getPos.cpp +++ b/src/gnss_utils.cpp @@ -1,4 +1,4 @@ -#include "../include/getPos.h" +#include "gnss_utils/gnss_utils.h" using namespace GNSSUtils; @@ -11,7 +11,7 @@ static int getPos(Observations observations, Navigation navigation, sol_t sol) nav_t nav = navigation.getNavigation(); // Define processing options - prcopt_t prcopt = prcopt_default; + prcopt_t prcopt = prcopt_default; prcopt.mode = PMODE_SINGLE; prcopt.soltype = 0; prcopt.nf = 1; @@ -29,9 +29,8 @@ static int getPos(Observations observations, Navigation navigation, sol_t sol) // Define error msg char msg[128]=""; - + int stat = pntpos(&(obs[0]), obs.size(), &nav, &prcopt, &solb, NULL, NULL, msg); return stat; } - diff --git a/src/navigation.cpp b/src/navigation.cpp index 72ae965..edb0c55 100644 --- a/src/navigation.cpp +++ b/src/navigation.cpp @@ -1,4 +1,4 @@ -#include "../include/navigation.h" +#include "gnss_utils/navigation.h" using namespace GNSSUtils; diff --git a/src/observations.cpp b/src/observations.cpp index ddd321c..75d05f1 100644 --- a/src/observations.cpp +++ b/src/observations.cpp @@ -1,4 +1,4 @@ -#include "../include/observations.h" +#include "gnss_utils/observations.h" using namespace GNSSUtils; @@ -27,9 +27,3 @@ std::vector<obsd_t> Observations::getObservations() { return this->_obsVector; } - - - - - - -- GitLab