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Allow backward compatibility with GPSTK

This commit is contained in:
Carles Fernandez 2022-07-05 13:46:58 +02:00
parent dc027e95ff
commit 109112be63
No known key found for this signature in database
GPG Key ID: 4C583C52B0C3877D
14 changed files with 261 additions and 228 deletions
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2
.clang-format
View File

@ -53,7 +53,7 @@ IncludeBlocks: Merge
IncludeCategories:
- Regex: '^.*.h"'
Priority: 1
- Regex: '^.*(benchmark|boost|gflags|glog|gnsssdr|gnuradio|gpstk|gsl|gtest|pmt|uhd|volk)/'
- Regex: '^.*(benchmark|boost|gflags|glog|gnsssdr|gnuradio|gnsstk|gsl|gtest|pmt|uhd|volk)/'
Priority: 2
- Regex: '^.*(armadillo|iio|matio|pugixml)'
Priority: 2

12
CMakeLists.txt
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@ -113,6 +113,14 @@ endif()
option(ENABLE_OWN_GNSSTK "Force to download, build and link gnsstk for system tests, even if it is already installed" OFF)
if(NOT ENABLE_OWN_GNSSTK)
option(ENABLE_OWN_GPSTK "Force to download, build and link gnsstk for system tests, even if it is already installed" OFF)
if(ENABLE_OWN_GPSTK)
message(STATUS "WARNING: Option ENABLE_OWN_GPSTK is deprecated, please use ENABLE_OWN_GNSSTK")
set(ENABLE_OWN_GNSSTK ON)
endif()
endif()
option(ENABLE_INSTALL_TESTS "Install QA code system-wide" OFF)
if(ENABLE_FPGA)
set(ENABLE_INSTALL_TESTS ON)
@ -663,7 +671,7 @@ endif()
if(NOT (GNURADIO_VERSION VERSION_LESS 3.8) AND (LOG4CPP_READY_FOR_CXX17 OR GNURADIO_USES_SPDLOG))
# Check if we have std::filesystem
if(NOT (CMAKE_VERSION VERSION_LESS 3.8))
#if(NOT GPSTK_FOUND OR NOT (GPSTK_FOUND AND GPSTK_OLDER_THAN_8)) # Fix for GPSTk < 8.0.0
if(NOT GNSSTK_FOUND OR NOT (GNSSTK_FOUND AND GNSSTK_OLDER_THAN_8)) # Fix for GNSSTk < 8.0.0
find_package(FILESYSTEM COMPONENTS Final Experimental)
set_package_properties(FILESYSTEM PROPERTIES
URL "https://en.cppreference.com/w/cpp/filesystem"
@ -671,7 +679,7 @@ if(NOT (GNURADIO_VERSION VERSION_LESS 3.8) AND (LOG4CPP_READY_FOR_CXX17 OR GNURA
PURPOSE "Work with paths, regular files, and directories."
TYPE OPTIONAL
)
#endif()
endif()
if(FILESYSTEM_FOUND)
set(CMAKE_CXX_STANDARD 17)
# if(CMAKE_VERSION VERSION_GREATER 3.13)

55
cmake/Modules/FindGNSSTK.cmake
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@ -31,14 +31,27 @@ if(DEFINED ENV{GNSSTK_ROOT})
)
endif()
unset(GNSSTK_INCLUDE_DIR CACHE)
set(GNSSTK_USES_GPSTK_NAMESPACE FALSE)
find_path(GNSSTK_INCLUDE_DIR gnsstk/Rinex3ObsBase.hpp
PATHS ${GNSSTK_ROOT_USER_DEFINED}/include
/usr/include
/usr/local/include
/opt/local/include
)
set(GNSSTK_NAMES gnsstk libgnsstk)
set(GNSSTK_NAMES ${CMAKE_FIND_LIBRARY_PREFIXES}gnsstk${CMAKE_SHARED_LIBRARY_SUFFIX})
if(NOT GNSSTK_INCLUDE_DIR)
find_path(GNSSTK_INCLUDE_DIR gpstk/Rinex3ObsBase.hpp
PATHS ${GNSSTK_ROOT_USER_DEFINED}/include
/usr/include
/usr/local/include
/opt/local/include
)
if(GNSSTK_INCLUDE_DIR)
set(GNSSTK_NAMES gpstk ${CMAKE_FIND_LIBRARY_PREFIXES}gpstk${CMAKE_SHARED_LIBRARY_SUFFIX})
set(GNSSTK_USES_GPSTK_NAMESPACE TRUE)
endif()
endif()
include(GNUInstallDirs)
@ -61,6 +74,10 @@ if(GNSSTK_FOUND)
unset(PACKAGE_VERSION)
if(EXISTS ${CMAKE_INSTALL_FULL_DATADIR}/cmake/GNSSTK/GNSSTKConfigVersion.cmake)
include(${CMAKE_INSTALL_FULL_DATADIR}/cmake/GNSSTK/GNSSTKConfigVersion.cmake)
else()
if(EXISTS ${CMAKE_INSTALL_FULL_DATADIR}/cmake/GPSTK/GPSTKConfigVersion.cmake)
include(${CMAKE_INSTALL_FULL_DATADIR}/cmake/GPSTK/GPSTKConfigVersion.cmake)
endif()
endif()
if(PACKAGE_VERSION)
set(GNSSTK_VERSION ${PACKAGE_VERSION})
@ -70,30 +87,40 @@ endif()
if(GNSSTK_FOUND AND GNSSTK_VERSION)
set_package_properties(GNSSTK PROPERTIES
DESCRIPTION "Library and suite of applications for satellite navigation (found: v${GNSSTK_VERSION})"
DESCRIPTION "The GNSSTk C++ Library (found: v${GNSSTK_VERSION})"
)
else()
set_package_properties(GNSSTK PROPERTIES
DESCRIPTION "Library and suite of applications for satellite navigation"
DESCRIPTION "The GNSSTk C++ Library"
)
endif()
#if(GNSSTK_FOUND AND NOT EXISTS ${GNSSTK_INCLUDE_DIR}/gnsstk/SatelliteSystem.hpp)
# set(GNSSTK_OLDER_THAN_8 TRUE)
#endif()
if(GNSSTK_FOUND AND GNSSTK_USES_GPSTK_NAMESPACE AND NOT EXISTS ${GNSSTK_INCLUDE_DIR}/gpstk/SatelliteSystem.hpp)
set(GNSSTK_OLDER_THAN_8 TRUE)
endif()
set_package_properties(GNSSTK PROPERTIES
URL "https://github.com/SGL-UT/gnsstk/"
TYPE OPTIONAL
)
if(GNSSTK_FOUND AND NOT ENABLE_OWN_GNSSTK AND NOT TARGET Gnsstk::gnsstk)
add_library(Gnsstk::gnsstk SHARED IMPORTED)
set_target_properties(Gnsstk::gnsstk PROPERTIES
IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
IMPORTED_LOCATION "${GNSSTK_LIBRARY}"
INTERFACE_INCLUDE_DIRECTORIES "${GNSSTK_INCLUDE_DIR};${GNSSTK_INCLUDE_DIR}/gnsstk"
INTERFACE_LINK_LIBRARIES "${GNSSTK_LIBRARY}"
)
if(GNSSTK_USES_GPSTK_NAMESPACE)
set_target_properties(Gnsstk::gnsstk PROPERTIES
IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
IMPORTED_LOCATION "${GNSSTK_LIBRARY}"
INTERFACE_INCLUDE_DIRECTORIES "${GNSSTK_INCLUDE_DIR};${GNSSTK_INCLUDE_DIR}/gpstk"
INTERFACE_LINK_LIBRARIES "${GNSSTK_LIBRARY}"
)
else()
set_target_properties(Gnsstk::gnsstk PROPERTIES
IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
IMPORTED_LOCATION "${GNSSTK_LIBRARY}"
INTERFACE_INCLUDE_DIRECTORIES "${GNSSTK_INCLUDE_DIR};${GNSSTK_INCLUDE_DIR}/gnsstk"
INTERFACE_LINK_LIBRARIES "${GNSSTK_LIBRARY}"
)
endif()
endif()
mark_as_advanced(GNSSTK_LIBRARY GNSSTK_INCLUDE_DIR)
mark_as_advanced(GNSSTK_LIBRARY GNSSTK_INCLUDE_DIR GNSSTK_USES_GPSTK_NAMESPACE GNSSTK_OLDER_THAN_8)

99
cmake/Modules/FindGPSTK.cmake
View File

@ -1,99 +0,0 @@
# GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
# This file is part of GNSS-SDR.
#
# SPDX-FileCopyrightText: 2011-2020 C. Fernandez-Prades cfernandez(at)cttc.es
# SPDX-License-Identifier: BSD-3-Clause
# - Find gpstk library
# Find the native gpstk includes and library
# This module defines
# GPSTK_INCLUDE_DIR, where to find Rinex3ObsBase.hpp, etc.
# GPSTK_FOUND, If false, do not try to use GPSTK.
# GPSTK_LIBRARY, where to find the GPSTK library.
#
# Provides the following imported target:
# Gpstk::gpstk
#
if(NOT COMMAND feature_summary)
include(FeatureSummary)
endif()
if(NOT GPSTK_ROOT)
set(GPSTK_ROOT_USER_DEFINED /usr/local)
else()
set(GPSTK_ROOT_USER_DEFINED ${GPSTK_ROOT})
endif()
if(DEFINED ENV{GPSTK_ROOT})
set(GPSTK_ROOT_USER_DEFINED
${GPSTK_ROOT_USER_DEFINED}
$ENV{GPSTK_ROOT}
)
endif()
find_path(GPSTK_INCLUDE_DIR gpstk/Rinex3ObsBase.hpp
PATHS ${GPSTK_ROOT_USER_DEFINED}/include
/usr/include
/usr/local/include
/opt/local/include
)
set(GPSTK_NAMES gpstk libgpstk)
include(GNUInstallDirs)
find_library(GPSTK_LIBRARY NAMES ${GPSTK_NAMES}
PATHS ${GPSTK_ROOT_USER_DEFINED}/lib
${GPSTK_ROOT_USER_DEFINED}/${CMAKE_INSTALL_LIBDIR}
/usr/local/lib
/usr/${CMAKE_INSTALL_LIBDIR}
/usr/local/${CMAKE_INSTALL_LIBDIR}
/opt/local/lib
)
# handle the QUIET and REQUIRED arguments and set GPSTK_FOUND to TRUE if
# all listed variables are TRUE
include(FindPackageHandleStandardArgs)
find_package_handle_standard_args(GPSTK DEFAULT_MSG GPSTK_LIBRARY GPSTK_INCLUDE_DIR)
if(GPSTK_FOUND)
set(OLD_PACKAGE_VERSION ${PACKAGE_VERSION})
unset(PACKAGE_VERSION)
if(EXISTS ${CMAKE_INSTALL_FULL_DATADIR}/cmake/GPSTK/GPSTKConfigVersion.cmake)
include(${CMAKE_INSTALL_FULL_DATADIR}/cmake/GPSTK/GPSTKConfigVersion.cmake)
endif()
if(PACKAGE_VERSION)
set(GPSTK_VERSION ${PACKAGE_VERSION})
endif()
set(PACKAGE_VERSION ${OLD_PACKAGE_VERSION})
endif()
if(GPSTK_FOUND AND GPSTK_VERSION)
set_package_properties(GPSTK PROPERTIES
DESCRIPTION "Library and suite of applications for satellite navigation (found: v${GPSTK_VERSION})"
)
else()
set_package_properties(GPSTK PROPERTIES
DESCRIPTION "Library and suite of applications for satellite navigation"
)
endif()
if(GPSTK_FOUND AND NOT EXISTS ${GPSTK_INCLUDE_DIR}/gpstk/SatelliteSystem.hpp)
set(GPSTK_OLDER_THAN_8 TRUE)
endif()
set_package_properties(GPSTK PROPERTIES
URL "https://github.com/SGL-UT/gnsstk"
)
if(GPSTK_FOUND AND NOT ENABLE_OWN_GPSTK AND NOT TARGET Gpstk::gpstk)
add_library(Gpstk::gpstk SHARED IMPORTED)
set_target_properties(Gpstk::gpstk PROPERTIES
IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
IMPORTED_LOCATION "${GPSTK_LIBRARY}"
INTERFACE_INCLUDE_DIRECTORIES "${GPSTK_INCLUDE_DIR};${GPSTK_INCLUDE_DIR}/gpstk"
INTERFACE_LINK_LIBRARIES "${GPSTK_LIBRARY}"
)
endif()
mark_as_advanced(GPSTK_LIBRARY GPSTK_INCLUDE_DIR)

7
docs/CHANGELOG.md
View File

@ -35,6 +35,13 @@ All notable changes to GNSS-SDR will be documented in this file.
**not** applied to the computed PVT solution. In the Galileo E6B-only
receiver, HAS messages are decoded and reported.
### Improvements in Maintainability:
- The now archived [GPSTk toolkit](https://github.com/SGL-UT/GPSTk), used in
some optional tests and applications, has been replaced by the new
[GNSSTk](https://github.com/SGL-UT/gnsstk) C++ Library. Compatibility with the
former GPSTk toolkit is maintained.
### Improvements in Portability:
- Improved detection of the BLAS library under macOS / Macports (the `lapack`

9
src/tests/CMakeLists.txt
View File

@ -555,9 +555,12 @@ if(ENABLE_UNIT_TESTING)
endif()
if(ENABLE_UNIT_TESTING_EXTRA)
target_link_libraries(run_tests PRIVATE Gnsstk::gnsstk)
#if(GNSSTK_OLDER_THAN_8)
# target_compile_definitions(run_tests PRIVATE -DOLD_GPSTK=1)
#endif()
if(GNSSTK_OLDER_THAN_8)
target_compile_definitions(run_tests PRIVATE -DOLD_GPSTK=1)
endif()
if(GNSSTK_USES_GPSTK_NAMESPACE)
target_compile_definitions(run_tests PRIVATE -DGNSSTK_USES_GPSTK_NAMESPACE=1)
endif()
endif()
if(ENABLE_STRIP)
set_target_properties(run_tests PROPERTIES LINK_FLAGS "-s")

31
src/tests/data/gpstk_static.patch
View File

@ -1,31 +0,0 @@
SPDX-License-Identifier: GPL-3.0-or-later
SPDX-FileCopyrightText: 2020 Carles Fernandez-Prades <carles.fernandez@cttc.es>
--- CMakeLists.txt 2022-04-05 23:24:04.000000000 +0200
+++ CMakeLists.txt 2022-04-05 23:29:02.000000000 +0200
@@ -77,7 +77,16 @@
include( BuildSetup.cmake )
-
+set(STADYN "STATIC")
+if(POLICY CMP0063)
+ cmake_policy(SET CMP0063 NEW)
+ set(CMAKE_CXX_VISIBILITY_PRESET hidden)
+ set(CMAKE_VISIBILITY_INLINES_HIDDEN 1)
+else()
+ if((CMAKE_CXX_COMPILER_ID MATCHES "Clang" OR CMAKE_CXX_COMPILER_ID STREQUAL "GNU") AND NOT WIN32)
+ add_definitions(-fvisibility=hidden)
+ endif()
+endif()
#============================================================
# Core Library Target Files
#============================================================
@@ -161,7 +170,7 @@
add_library( gpstk ${STADYN} ${GPSTK_SRC_FILES} ${GPSTK_INC_FILES} )
# GPSTk library install target
-install( TARGETS gpstk DESTINATION "${CMAKE_INSTALL_LIBDIR}" EXPORT "${EXPORT_TARGETS_FILENAME}" )
+install( TARGETS gpstk DESTINATION lib EXPORT "${EXPORT_TARGETS_FILENAME}" )
# GPSTk header file install target (whether it is version dependent changes based on user flag)
install( FILES ${GPSTK_INC_FILES} DESTINATION ${CMAKE_INSTALL_INCLUDEDIR} )

49
src/tests/unit-tests/signal-processing-blocks/observables/hybrid_observables_test.cc
View File

@ -57,11 +57,6 @@
#include <gnuradio/blocks/null_sink.h>
#include <gnuradio/filter/firdes.h>
#include <gnuradio/top_block.h>
#include <gpstk/Rinex3ObsBase.hpp>
#include <gpstk/Rinex3ObsData.hpp>
#include <gpstk/Rinex3ObsHeader.hpp>
#include <gpstk/Rinex3ObsStream.hpp>
#include <gpstk/RinexUtilities.hpp>
#include <gtest/gtest.h>
#include <matio.h>
#include <pmt/pmt.h>
@ -70,6 +65,20 @@
#include <exception>
#include <unistd.h>
#include <utility>
#if GNSSTK_USES_GPSTK_NAMESPACE
#include <gpstk/Rinex3ObsBase.hpp>
#include <gpstk/Rinex3ObsData.hpp>
#include <gpstk/Rinex3ObsHeader.hpp>
#include <gpstk/Rinex3ObsStream.hpp>
#include <gpstk/RinexUtilities.hpp>
namespace gnsstk = gpstk;
#else
#include <gnsstk/Rinex3ObsBase.hpp>
#include <gnsstk/Rinex3ObsData.hpp>
#include <gnsstk/Rinex3ObsHeader.hpp>
#include <gnsstk/Rinex3ObsStream.hpp>
#include <gnsstk/RinexUtilities.hpp>
#endif
#if HAS_GENERIC_LAMBDA
#else
@ -1556,17 +1565,17 @@ bool HybridObservablesTest::ReadRinexObs(std::vector<arma::mat>* obs_vec, Gnss_S
// Open and read reference RINEX observables file
try
{
gpstk::Rinex3ObsStream r_ref(FLAGS_filename_rinex_obs);
gnsstk::Rinex3ObsStream r_ref(FLAGS_filename_rinex_obs);
r_ref.exceptions(std::ios::failbit);
gpstk::Rinex3ObsData r_ref_data;
gpstk::Rinex3ObsHeader r_ref_header;
gnsstk::Rinex3ObsData r_ref_data;
gnsstk::Rinex3ObsHeader r_ref_header;
gpstk::RinexDatum dataobj;
gnsstk::RinexDatum dataobj;
r_ref >> r_ref_header;
std::vector<bool> first_row;
gpstk::SatID prn;
gnsstk::SatID prn;
for (unsigned int n = 0; n < gnss_synchro_vec.size(); n++)
{
first_row.push_back(true);
@ -1582,28 +1591,28 @@ bool HybridObservablesTest::ReadRinexObs(std::vector<arma::mat>* obs_vec, Gnss_S
{
case 'G':
#if OLD_GPSTK
prn = gpstk::SatID(myprn, gpstk::SatID::systemGPS);
prn = gnsstk::SatID(myprn, gnsstk::SatID::systemGPS);
#else
prn = gpstk::SatID(myprn, gpstk::SatelliteSystem::GPS);
prn = gnsstk::SatID(myprn, gnsstk::SatelliteSystem::GPS);
#endif
break;
case 'E':
#if OLD_GPSTK
prn = gpstk::SatID(myprn, gpstk::SatID::systemGalileo);
prn = gnsstk::SatID(myprn, gnsstk::SatID::systemGalileo);
#else
prn = gpstk::SatID(myprn, gpstk::SatelliteSystem::Galileo);
prn = gnsstk::SatID(myprn, gnsstk::SatelliteSystem::Galileo);
#endif
break;
default:
#if OLD_GPSTK
prn = gpstk::SatID(myprn, gpstk::SatID::systemGPS);
prn = gnsstk::SatID(myprn, gnsstk::SatID::systemGPS);
#else
prn = gpstk::SatID(myprn, gpstk::SatelliteSystem::GPS);
prn = gnsstk::SatID(myprn, gnsstk::SatelliteSystem::GPS);
#endif
}
gpstk::CommonTime time = r_ref_data.time;
double sow(static_cast<gpstk::GPSWeekSecond>(time).sow);
gnsstk::CommonTime time = r_ref_data.time;
double sow(static_cast<gnsstk::GPSWeekSecond>(time).sow);
auto pointer = r_ref_data.obs.find(prn);
if (pointer == r_ref_data.obs.end())
@ -1680,12 +1689,12 @@ bool HybridObservablesTest::ReadRinexObs(std::vector<arma::mat>* obs_vec, Gnss_S
}
} // end while
} // End of 'try' block
catch (const gpstk::FFStreamError& e)
catch (const gnsstk::FFStreamError& e)
{
std::cout << e;
return false;
}
catch (const gpstk::Exception& e)
catch (const gnsstk::Exception& e)
{
std::cout << e;
return false;

50
src/tests/unit-tests/signal-processing-blocks/observables/hybrid_observables_test_fpga.cc
View File

@ -56,11 +56,6 @@
#include <gnuradio/blocks/null_sink.h>
#include <gnuradio/filter/firdes.h>
#include <gnuradio/top_block.h>
#include <gpstk/Rinex3ObsBase.hpp>
#include <gpstk/Rinex3ObsData.hpp>
#include <gpstk/Rinex3ObsHeader.hpp>
#include <gpstk/Rinex3ObsStream.hpp>
#include <gpstk/RinexUtilities.hpp>
#include <gtest/gtest.h>
#include <matio.h>
#include <pmt/pmt.h>
@ -71,6 +66,21 @@
#include <unistd.h>
#include <utility>
#if GNSSTK_USES_GPSTK_NAMESPACE
#include <gpstk/Rinex3ObsBase.hpp>
#include <gpstk/Rinex3ObsData.hpp>
#include <gpstk/Rinex3ObsHeader.hpp>
#include <gpstk/Rinex3ObsStream.hpp>
#include <gpstk/RinexUtilities.hpp>
namespace gnsstk = gpstk;
#else
#include <gnsstk/Rinex3ObsBase.hpp>
#include <gnsstk/Rinex3ObsData.hpp>
#include <gnsstk/Rinex3ObsHeader.hpp>
#include <gnsstk/Rinex3ObsStream.hpp>
#include <gnsstk/RinexUtilities.hpp>
#endif
#if HAS_GENERIC_LAMBDA
#else
#include <boost/bind/bind.hpp>
@ -1648,17 +1658,17 @@ bool HybridObservablesTestFpga::ReadRinexObs(std::vector<arma::mat>* obs_vec, Gn
// Open and read reference RINEX observables file
try
{
gpstk::Rinex3ObsStream r_ref(FLAGS_filename_rinex_obs);
gnsstk::Rinex3ObsStream r_ref(FLAGS_filename_rinex_obs);
r_ref.exceptions(std::ios::failbit);
gpstk::Rinex3ObsData r_ref_data;
gpstk::Rinex3ObsHeader r_ref_header;
gnsstk::Rinex3ObsData r_ref_data;
gnsstk::Rinex3ObsHeader r_ref_header;
gpstk::RinexDatum dataobj;
gnsstk::RinexDatum dataobj;
r_ref >> r_ref_header;
std::vector<bool> first_row;
gpstk::SatID prn;
gnsstk::SatID prn;
for (unsigned int n = 0; n < gnss_synchro_vec.size(); n++)
{
first_row.push_back(true);
@ -1674,28 +1684,28 @@ bool HybridObservablesTestFpga::ReadRinexObs(std::vector<arma::mat>* obs_vec, Gn
{
case 'G':
#if OLD_GPSTK
prn = gpstk::SatID(myprn, gpstk::SatID::systemGPS);
prn = gnsstk::SatID(myprn, gnsstk::SatID::systemGPS);
#else
prn = gpstk::SatID(myprn, gpstk::SatelliteSystem::GPS);
prn = gnsstk::SatID(myprn, gnsstk::SatelliteSystem::GPS);
#endif
break;
case 'E':
#if OLD_GPSTK
prn = gpstk::SatID(myprn, gpstk::SatID::systemGalileo);
prn = gnsstk::SatID(myprn, gnsstk::SatID::systemGalileo);
#else
prn = gpstk::SatID(myprn, gpstk::SatelliteSystem::Galileo);
prn = gnsstk::SatID(myprn, gnsstk::SatelliteSystem::Galileo);
#endif
break;
default:
#if OLD_GPSTK
prn = gpstk::SatID(myprn, gpstk::SatID::systemGPS);
prn = gnsstk::SatID(myprn, gnsstk::SatID::systemGPS);
#else
prn = gpstk::SatID(myprn, gpstk::SatelliteSystem::GPS);
prn = gnsstk::SatID(myprn, gnsstk::SatelliteSystem::GPS);
#endif
}
gpstk::CommonTime time = r_ref_data.time;
double sow(static_cast<gpstk::GPSWeekSecond>(time).sow);
gnsstk::CommonTime time = r_ref_data.time;
double sow(static_cast<gnsstk::GPSWeekSecond>(time).sow);
auto pointer = r_ref_data.obs.find(prn);
if (pointer == r_ref_data.obs.end())
@ -1773,12 +1783,12 @@ bool HybridObservablesTestFpga::ReadRinexObs(std::vector<arma::mat>* obs_vec, Gn
} // end while
} // End of 'try' block
catch (const gpstk::FFStreamError& e)
catch (const gnsstk::FFStreamError& e)
{
std::cout << e;
return false;
}
catch (const gpstk::Exception& e)
catch (const gnsstk::Exception& e)
{
std::cout << e;
return false;

45
src/utils/rinex-tools/CMakeLists.txt
View File

@ -10,8 +10,13 @@ if("${ARMADILLO_VERSION_STRING}" VERSION_GREATER "9.800" OR (NOT ARMADILLO_FOUND
find_package(GNSSTK QUIET)
if(NOT GNSSTK_FOUND OR ENABLE_OWN_GNSSTK)
include(GNUInstallDirs)
set(GNSSTK_LIBRARY ${CMAKE_BINARY_DIR}/gnsstk-${GNSSSDR_GNSSTK_LOCAL_VERSION}/install/lib/${CMAKE_FIND_LIBRARY_PREFIXES}gnsstk${CMAKE_STATIC_LIBRARY_SUFFIX})
set(GNSSTK_INCLUDE_DIR ${CMAKE_BINARY_DIR}/gnsstk-${GNSSSDR_GNSSTK_LOCAL_VERSION}/install/include)
if(GNSSTK_USES_GPSTK_NAMESPACE)
set(GNSSTK_LIBRARY ${CMAKE_BINARY_DIR}/gnsstk-${GNSSSDR_GNSSTK_LOCAL_VERSION}/install/lib/${CMAKE_FIND_LIBRARY_PREFIXES}gnsstk${CMAKE_STATIC_LIBRARY_SUFFIX})
set(GNSSTK_INCLUDE_DIR ${CMAKE_BINARY_DIR}/gnsstk-${GNSSSDR_GNSSTK_LOCAL_VERSION}/install/include)
else()
set(GNSSTK_LIBRARY ${CMAKE_BINARY_DIR}/gpstk-${GNSSSDR_GNSSTK_LOCAL_VERSION}/install/lib/${CMAKE_FIND_LIBRARY_PREFIXES}gnsstk${CMAKE_STATIC_LIBRARY_SUFFIX})
set(GNSSTK_INCLUDE_DIR ${CMAKE_BINARY_DIR}/gpstk-${GNSSSDR_GNSSTK_LOCAL_VERSION}/install/include)
endif()
endif()
if(USE_CMAKE_TARGET_SOURCES)
@ -54,17 +59,35 @@ if("${ARMADILLO_VERSION_STRING}" VERSION_GREATER "9.800" OR (NOT ARMADILLO_FOUND
if(NOT MATIO_FOUND OR MATIO_VERSION_STRING VERSION_LESS ${GNSSSDR_MATIO_MIN_VERSION})
add_dependencies(obsdiff matio-${GNSSSDR_MATIO_LOCAL_VERSION})
endif()
if(GNSSTK_USES_GPSTK_NAMESPACE)
target_compile_definitions(obsdiff PUBLIC -DGNSSTK_USES_GPSTK_NAMESPACE=1)
endif()
if(GNSSTK_OLDER_THAN_8)
target_compile_definitions(obsdiff PUBLIC -DOLD_GPSTK=1)
endif()
if(NOT TARGET Gnsstk::gnsstk)
file(MAKE_DIRECTORY ${GNSSTK_INCLUDE_DIR}/gnsstk)
add_library(Gnsstk::gnsstk STATIC IMPORTED)
add_dependencies(Gnsstk::gnsstk gnsstk-${GNSSSDR_GNSSTK_LOCAL_VERSION})
set_target_properties(Gnsstk::gnsstk PROPERTIES
IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
IMPORTED_LOCATION "${GNSSTK_LIBRARY}"
INTERFACE_INCLUDE_DIRECTORIES "${GNSSTK_INCLUDE_DIR};${GNSSTK_INCLUDE_DIR}/gnsstk"
INTERFACE_LINK_LIBRARIES "${GNSSTK_LIBRARY}"
)
if(GNSSTK_USES_GPSTK_NAMESPACE)
file(MAKE_DIRECTORY ${GNSSTK_INCLUDE_DIR}/gpstk)
add_library(Gnsstk::gnsstk STATIC IMPORTED)
add_dependencies(Gnsstk::gnsstk gnsstk-${GNSSSDR_GNSSTK_LOCAL_VERSION})
set_target_properties(Gnsstk::gnsstk PROPERTIES
IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
IMPORTED_LOCATION "${GNSSTK_LIBRARY}"
INTERFACE_INCLUDE_DIRECTORIES "${GNSSTK_INCLUDE_DIR};${GNSSTK_INCLUDE_DIR}/gpstk"
INTERFACE_LINK_LIBRARIES "${GNSSTK_LIBRARY}"
)
else()
file(MAKE_DIRECTORY ${GNSSTK_INCLUDE_DIR}/gnsstk)
add_library(Gnsstk::gnsstk STATIC IMPORTED)
add_dependencies(Gnsstk::gnsstk gnsstk-${GNSSSDR_GNSSTK_LOCAL_VERSION})
set_target_properties(Gnsstk::gnsstk PROPERTIES
IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
IMPORTED_LOCATION "${GNSSTK_LIBRARY}"
INTERFACE_INCLUDE_DIRECTORIES "${GNSSTK_INCLUDE_DIR};${GNSSTK_INCLUDE_DIR}/gnsstk"
INTERFACE_LINK_LIBRARIES "${GNSSTK_LIBRARY}"
)
endif()
endif()
target_link_libraries(obsdiff

4
src/utils/rinex-tools/README.md
View File

@ -23,8 +23,8 @@ Requirements:
- [Gflags](https://github.com/gflags/gflags): A C++ library that implements
command-line flags processing. If not found in your system, the latest version
will be downloaded, built and linked for you at building time.
- [GPSTK](https://github.com/SGL-UT/GPSTk): The GPS Toolkit, used for RINEX
files reading. If not found in your system, the latest version will be
- [GNSSTK](https://github.com/SGL-UT/gnsstk): The GNSSTk C++ Library, used for
RINEX files reading. If not found in your system, the latest version will be
downloaded, built and linked for you at building time.
- [Matio](https://github.com/tbeu/matio): A MATLAB MAT File I/O Library,
version >= 1.5.3. If it is not found, or an older version is found, CMake will

68
src/utils/rinex-tools/obsdiff.cc
View File

@ -21,6 +21,34 @@
#include "gnuplot_i.h"
#include "obsdiff_flags.h"
#include <armadillo>
#include <matio.h>
#include <algorithm>
#include <array>
#include <fstream>
#include <iomanip>
#include <map>
#include <set>
#include <stdexcept>
#include <string>
#include <vector>
#if GNSSTK_USES_GPSTK_NAMESPACE
#include <gpstk/GGTropModel.hpp>
#include <gpstk/GNSSconstants.hpp>
#include <gpstk/GPSEphemerisStore.hpp>
#include <gpstk/PRSolution.hpp>
#include <gpstk/Rinex3NavData.hpp>
#include <gpstk/Rinex3NavHeader.hpp>
#include <gpstk/Rinex3NavStream.hpp>
#include <gpstk/Rinex3ObsData.hpp>
#include <gpstk/Rinex3ObsHeader.hpp>
#include <gpstk/Rinex3ObsStream.hpp>
#include <gpstk/RinexMetBase.hpp>
#include <gpstk/RinexMetData.hpp>
#include <gpstk/RinexMetHeader.hpp>
#include <gpstk/RinexMetStream.hpp>
namespace gnsstk = gpstk;
#else
// Classes for handling observations RINEX files (data)
#include <gnsstk/Rinex3ObsData.hpp>
#include <gnsstk/Rinex3ObsHeader.hpp>
@ -49,16 +77,7 @@
// Class defining GPS system constants
#include <gnsstk/GNSSconstants.hpp>
#include <matio.h>
#include <algorithm>
#include <array>
#include <fstream>
#include <iomanip>
#include <map>
#include <set>
#include <stdexcept>
#include <string>
#include <vector>
#endif
#if GFLAGS_OLD_NAMESPACE
namespace gflags
@ -111,15 +130,27 @@ std::map<int, arma::mat> ReadRinexObs(const std::string& rinex_file, char system
switch (system)
{
case 'G':
prn.system = gnsstk::SatelliteSystem::GPS;
#if OLD_GPSTK
prn.system = gpstk::SatID::systemGPS;
#else
prn.system = gpstk::SatelliteSystem::GPS;
#endif
PRN_set = available_gps_prn;
break;
case 'E':
prn.system = gnsstk::SatelliteSystem::Galileo;
#if OLD_GPSTK
prn.system = gpstk::SatID::systemGalileo;
#else
prn.system = gpstk::SatelliteSystem::Galileo;
#endif
PRN_set = available_galileo_prn;
break;
default:
prn.system = gnsstk::SatelliteSystem::GPS;
#if OLD_GPSTK
prn.system = gpstk::SatID::systemGPS;
#else
prn.system = gpstk::SatelliteSystem::GPS;
#endif
PRN_set = available_gps_prn;
}
@ -1239,12 +1270,19 @@ double compute_rx_clock_error(const std::string& rinex_nav_filename, const std::
// pointer to the tropospheric model to be applied
try
{
gnsstk::Matrix<double> invMC;
#if OLD_GPSTK
std::vector<gpstk::SatID::SatelliteSystem> Syss;
#endif
gpstk::Matrix<double> invMC;
int iret;
// Call RAIMCompute
#if OLD_GPSTK
iret = raimSolver.RAIMCompute(rod.time, prnVec, Syss, rangeVec, invMC,
&bcestore, tropModelPtr);
#else
iret = raimSolver.RAIMCompute(rod.time, prnVec, rangeVec, invMC,
&bcestore, tropModelPtr);
#endif
switch (iret)
{
/// @return Return values:

33
src/utils/rinex2assist/CMakeLists.txt
View File

@ -8,8 +8,13 @@
find_package(GNSSTK QUIET)
if(NOT GNSSTK_FOUND OR ENABLE_OWN_GNSSTK)
include(GNUInstallDirs)
set(GNSSTK_LIBRARY ${CMAKE_BINARY_DIR}/gnsstk-${GNSSSDR_GNSSTK_LOCAL_VERSION}/install/${CMAKE_INSTALL_LIBDIR}/${CMAKE_FIND_LIBRARY_PREFIXES}gnsstk${CMAKE_STATIC_LIBRARY_SUFFIX})
set(GNSSTK_INCLUDE_DIR ${CMAKE_BINARY_DIR}/gnsstk-${GNSSSDR_GNSSTK_LOCAL_VERSION}/install/include)
if(GNSSTK_USES_GPSTK_NAMESPACE)
set(GNSSTK_LIBRARY ${CMAKE_BINARY_DIR}/gnsstk-${GNSSSDR_GNSSTK_LOCAL_VERSION}/install/${CMAKE_INSTALL_LIBDIR}/${CMAKE_FIND_LIBRARY_PREFIXES}gpstk${CMAKE_STATIC_LIBRARY_SUFFIX})
set(GNSSTK_INCLUDE_DIR ${CMAKE_BINARY_DIR}/gnsstk-${GNSSSDR_GNSSTK_LOCAL_VERSION}/install/include)
else()
set(GNSSTK_LIBRARY ${CMAKE_BINARY_DIR}/gnsstk-${GNSSSDR_GNSSTK_LOCAL_VERSION}/install/${CMAKE_INSTALL_LIBDIR}/${CMAKE_FIND_LIBRARY_PREFIXES}gnsstk${CMAKE_STATIC_LIBRARY_SUFFIX})
set(GNSSTK_INCLUDE_DIR ${CMAKE_BINARY_DIR}/gnsstk-${GNSSSDR_GNSSTK_LOCAL_VERSION}/install/include)
endif()
endif()
@ -79,11 +84,25 @@ if(Boost_FOUND)
core_system_parameters
)
target_include_directories(rinex2assist
PRIVATE
${GNSSTK_INCLUDE_DIR}/gnsstk
${GNSSTK_INCLUDE_DIR}
)
if(GNSSTK_USES_GPSTK_NAMESPACE)
target_compile_definitions(rinex2assist PUBLIC -DGNSSTK_USES_GPSTK_NAMESPACE=1)
target_include_directories(rinex2assist
PRIVATE
${GNSSTK_INCLUDE_DIR}/gpstk
${GNSSTK_INCLUDE_DIR}
)
else()
target_include_directories(rinex2assist
PRIVATE
${GNSSTK_INCLUDE_DIR}/gnsstk
${GNSSTK_INCLUDE_DIR}
)
endif()
if(GNSSTK_VERSION)
if(GNSSTK_VERSION VERSION_LESS "9.0.0")
target_compile_definitions(rinex2assist PUBLIC -DGNSSTK_OLDER_THAN_9=1)
endif()
endif()
if(NOT UNCOMPRESS_EXECUTABLE-NOTFOUND)
target_compile_definitions(rinex2assist PRIVATE -DUNCOMPRESS_EXECUTABLE="${UNCOMPRESS_EXECUTABLE}")

25
src/utils/rinex2assist/main.cc
View File

@ -28,14 +28,23 @@
#include <boost/iostreams/filtering_streambuf.hpp>
#include <boost/serialization/map.hpp>
#include <gflags/gflags.h>
#include <cstddef> // for size_t
#include <cstdlib>
#include <iostream>
#if GNSSTK_USES_GPSTK_NAMESPACE
#include <gpstk/GALWeekSecond.hpp>
#include <gpstk/GPSWeekSecond.hpp>
#include <gpstk/Rinex3NavData.hpp>
#include <gpstk/Rinex3NavHeader.hpp>
#include <gpstk/Rinex3NavStream.hpp>
namespace gnsstk = gpstk;
#else
#include <gnsstk/GALWeekSecond.hpp>
#include <gnsstk/GPSWeekSecond.hpp>
#include <gnsstk/Rinex3NavData.hpp>
#include <gnsstk/Rinex3NavHeader.hpp>
#include <gnsstk/Rinex3NavStream.hpp>
#include <cstddef> // for size_t
#include <cstdlib>
#include <iostream>
#endif
#if GFLAGS_OLD_NAMESPACE
namespace gflags
@ -178,12 +187,17 @@ int main(int argc, char** argv)
gps_utc_model.valid = (hdr.valid > 2147483648) ? true : false;
gps_utc_model.A1 = hdr.mapTimeCorr["GPUT"].A0;
gps_utc_model.A0 = hdr.mapTimeCorr["GPUT"].A1;
#if GNSSTK_OLDER_THAN_9
gps_utc_model.tot = hdr.mapTimeCorr["GPUT"].refSOW;
gps_utc_model.WN_T = hdr.mapTimeCorr["GPUT"].refWeek;
#else
if (hdr.mapTimeCorr["GPUT"].refTime != gnsstk::CommonTime::BEGINNING_OF_TIME)
{
gnsstk::GPSWeekSecond gws(hdr.mapTimeCorr["GPUT"].refTime);
gps_utc_model.tot = gws.getSOW();
gps_utc_model.WN_T = gws.getWeek();
}
#endif
gps_utc_model.DeltaT_LS = hdr.leapSeconds;
gps_utc_model.WN_LSF = hdr.leapWeek;
gps_utc_model.DN = hdr.leapDay;
@ -205,12 +219,17 @@ int main(int argc, char** argv)
gal_utc_model.A0 = hdr.mapTimeCorr["GAUT"].A0;
gal_utc_model.A1 = hdr.mapTimeCorr["GAUT"].A1;
gal_utc_model.Delta_tLS = hdr.leapSeconds;
#if GNSSTK_OLDER_THAN_9
gal_utc_model.tot = hdr.mapTimeCorr["GAUT"].refSOW;
gal_utc_model.WNot = hdr.mapTimeCorr["GAUT"].refWeek;
#else
if (hdr.mapTimeCorr["GAUT"].refTime != gnsstk::CommonTime::BEGINNING_OF_TIME)
{
gnsstk::GPSWeekSecond gws(hdr.mapTimeCorr["GAUT"].refTime);
gal_utc_model.tot = gws.getSOW();
gal_utc_model.WNot = gws.getWeek();
}
#endif
gal_utc_model.WN_LSF = hdr.leapWeek;
gal_utc_model.DN = hdr.leapDay;
gal_utc_model.Delta_tLSF = hdr.leapDelta;