Added conditional compilation depending on the presence of the GPS tool kit.

src/examples/testasterx1.cpp

@@ -17,23 +17,19 @@ USB any port
 
 #include <stdlib.h>
 #include "asterx1_gps.h"
-#include "asterx1_process.h"
 #include "stream_gps.h"
+#ifdef HAVE_GPSTK
+  #include "asterx1_process.h"
+#endif
 
 int main(int argc, char **argv)
 {
   CasteRx1 gps("gps","/dev/ttyACM0");
-  CAsteRx1Process gps_process;
   CEventServer *event_server=CEventServer::instance();
   std::list<std::string> events;
   unsigned int index;
   TMeasEpoch meas_epoch;
   TMeasExtra meas_extra;
-  TGPSNav gps_nav;
-  TGPSAlm gps_alm;
-  TGPSIon gps_ion;
-  TGPSUtc gps_utc;
-  TGPSFrame gps_frame;
   TPVTCartesian pvt_cartesian;
   TPVTGeodetic pvt_geodetic;
   TPVTCov pvt_pos_cov_cartesian;
@@ -41,79 +37,120 @@ int main(int argc, char **argv)
   TPVTCov pvt_pos_cov_geodetic;
   TPVTCov pvt_vel_cov_geodetic;
   TPVTDOP pvt_dop;
+  #ifdef HAVE_GPSTK
+    CAsteRx1Process gps_process;
+    TGPSFrame gps_frame;
+    TGPSNav gps_nav;
+  #else
+    TGPSNav gps_nav;
+    TGPSAlm gps_alm;
+    TGPSIon gps_ion;
+    TGPSUtc gps_utc;
+  #endif
 
   std::cout << "\n\n    TEST AsteRx1 GPS RECEIVER     \n\n" << std::endl;
   
   try{
     gps.openDevice();
-    events.push_back(gps.get_new_meas_data_event_id());
-    events.push_back(gps.get_new_gps_nav_data_event_id());
-    events.push_back(gps.get_new_gps_alm_data_event_id());
-    events.push_back(gps.get_new_gps_ion_data_event_id());
-    events.push_back(gps.get_new_gps_utc_data_event_id());
-    events.push_back(gps.get_new_gps_raw_data_event_id());
-    events.push_back(gps.get_new_pvt_data_event_id());
+    #ifdef HAVE_GPSTK
+      events.push_back(gps.get_new_meas_data_event_id());
+      events.push_back(gps.get_new_gps_raw_data_event_id());
+      events.push_back(gps.get_new_pvt_data_event_id());
+    #else
+      events.push_back(gps.get_new_meas_data_event_id());
+      events.push_back(gps.get_new_gps_nav_data_event_id());
+      events.push_back(gps.get_new_gps_alm_data_event_id());
+      events.push_back(gps.get_new_gps_ion_data_event_id());
+      events.push_back(gps.get_new_gps_utc_data_event_id());
+      events.push_back(gps.get_new_pvt_data_event_id());
+    #endif
     gps.startAcquisition();
     for(;;)
     {
       index=event_server->wait_first(events);
-      if(index==0)
-      {
-        gps.get_meas_data(meas_epoch,meas_extra);
-//        std::cout << meas_epoch << std::endl;
-//        std::cout << meas_extra << std::endl;
-      }
-      else if(index==1)
-      {
-        gps.get_gps_nav_data(gps_nav);
-        std::cout << gps_nav << std::endl;
-      }
-      else if(index==2)
-      {
-        gps.get_gps_alm_data(gps_alm);
-        std::cout << gps_alm << std::endl;
-      }
-      else if(index==3)
-      {
-        gps.get_gps_ion_data(gps_ion);
-        std::cout << gps_ion << std::endl;
-      }
-      else if(index==4)
-      {
-        gps.get_gps_utc_data(gps_utc);
-        std::cout << gps_utc << std::endl;
-      }
-      else if(index==5)
-      {
-        gps.get_gps_raw_data(gps_frame);
-        gps_process.add_subframe(gps_frame);
-        std::cout << gps_frame << std::endl;
-/*        if(gps_process.is_new_gps_nav_data_available())
+      #ifdef HAVE_GPSTK
+        if(index==0)
         {
-          gps_process.get_gps_nav_data(gps_nav);
-          if(gps_frame.sat_id==17)
+          gps.get_meas_data(meas_epoch,meas_extra);
+          std::cout << meas_epoch << std::endl;
+          std::cout << meas_extra << std::endl;
+        }
+        else if(index==1)
+        {
+          gps.get_gps_raw_data(gps_frame);
+          gps_process.add_subframe(gps_frame);
+          if(gps_process.is_new_gps_nav_data_available())
+          {
+            gps_process.get_gps_nav_data(gps_nav);
             std::cout << gps_nav << std::endl;
-        }*/
-      }
-      else if(index==6)
-      {
-        gps.get_pvt_data(pvt_cartesian,pvt_geodetic);
-        gps.get_pvt_cov_data(pvt_pos_cov_cartesian,pvt_pos_cov_geodetic,pvt_vel_cov_cartesian,pvt_vel_cov_geodetic);
-/*        std::cout << "Cartesian:" << std::endl;
-        std::cout << pvt_cartesian << std::endl;
-        std::cout << "Position covariance:" << std::endl;
-        std::cout << pvt_pos_cov_cartesian << std::endl;
-        std::cout << "Velocity covariance:" << std::endl;
-        std::cout << pvt_vel_cov_cartesian << std::endl;
-        std::cout << "Geodetic:" << std::endl;
-        std::cout << pvt_geodetic << std::endl;
-        std::cout << "Position covariance:" << std::endl;
-        std::cout << pvt_pos_cov_geodetic << std::endl;
-        std::cout << "Velocity covariance:" << std::endl;
-        std::cout << pvt_vel_cov_geodetic << std::endl;*/
-        gps.get_pvt_dop_data(pvt_dop);
-//        std::cout << pvt_dop << std::endl;
-      }
+          }
+        }
+        else if(index==2)
+        {
+          gps.get_pvt_data(pvt_cartesian,pvt_geodetic);
+          gps.get_pvt_cov_data(pvt_pos_cov_cartesian,pvt_pos_cov_geodetic,pvt_vel_cov_cartesian,pvt_vel_cov_geodetic);
+          std::cout << "Cartesian:" << std::endl;
+          std::cout << pvt_cartesian << std::endl;
+          std::cout << "Position covariance:" << std::endl;
+          std::cout << pvt_pos_cov_cartesian << std::endl;
+          std::cout << "Velocity covariance:" << std::endl;
+          std::cout << pvt_vel_cov_cartesian << std::endl;
+          std::cout << "Geodetic:" << std::endl;
+          std::cout << pvt_geodetic << std::endl;
+          std::cout << "Position covariance:" << std::endl;
+          std::cout << pvt_pos_cov_geodetic << std::endl;
+          std::cout << "Velocity covariance:" << std::endl;
+          std::cout << pvt_vel_cov_geodetic << std::endl;
+          gps.get_pvt_dop_data(pvt_dop);
+          std::cout << pvt_dop << std::endl;
+        }
+      #else
+        if(index==0)
+        {
+          gps.get_meas_data(meas_epoch,meas_extra);
+          std::cout << meas_epoch << std::endl;
+          std::cout << meas_extra << std::endl;
+        }
+        else if(index==1)
+        {
+          gps.get_gps_nav_data(gps_nav);
+          std::cout << gps_nav << std::endl;
+        }
+        else if(index==2)
+        {
+          gps.get_gps_alm_data(gps_alm);
+          std::cout << gps_alm << std::endl;
+        }
+        else if(index==3)
+        {
+          gps.get_gps_ion_data(gps_ion);
+          std::cout << gps_ion << std::endl;
+        }
+        else if(index==4)
+        {
+          gps.get_gps_utc_data(gps_utc);
+          std::cout << gps_utc << std::endl;
+        }
+        else if(index==5)
+        {
+          gps.get_pvt_data(pvt_cartesian,pvt_geodetic);
+          gps.get_pvt_cov_data(pvt_pos_cov_cartesian,pvt_pos_cov_geodetic,pvt_vel_cov_cartesian,pvt_vel_cov_geodetic);
+          std::cout << "Cartesian:" << std::endl;
+          std::cout << pvt_cartesian << std::endl;
+          std::cout << "Position covariance:" << std::endl;
+          std::cout << pvt_pos_cov_cartesian << std::endl;
+          std::cout << "Velocity covariance:" << std::endl;
+          std::cout << pvt_vel_cov_cartesian << std::endl;
+          std::cout << "Geodetic:" << std::endl;
+          std::cout << pvt_geodetic << std::endl;
+          std::cout << "Position covariance:" << std::endl;
+          std::cout << pvt_pos_cov_geodetic << std::endl;
+          std::cout << "Velocity covariance:" << std::endl;
+          std::cout << pvt_vel_cov_geodetic << std::endl;
+          gps.get_pvt_dop_data(pvt_dop);
+          std::cout << pvt_dop << std::endl;
+        }
+      #endif
     }
     gps.stopAcquisition();
   }catch(CException &e){