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Merge branch 'gnsstk' into next.

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Replace GPSTK by the newer GNSSTk C++ Library, with backward compatibility. Works from GPSTK 3.0 to GNSSTk 12.1.0
This commit is contained in:
Carles Fernandez 2022-07-06 14:15:23 +02:00
commit 5ecfcc773b
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GPG Key ID: 4C583C52B0C3877D
17 changed files with 518 additions and 343 deletions
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2
.clang-format
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@ -53,7 +53,7 @@ IncludeBlocks: Merge
IncludeCategories: IncludeCategories:
- Regex: '^.*.h"' - Regex: '^.*.h"'
Priority: 1 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 Priority: 2
- Regex: '^.*(armadillo|iio|matio|pugixml)' - Regex: '^.*(armadillo|iio|matio|pugixml)'
Priority: 2 Priority: 2

22
CMakeLists.txt
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@ -111,7 +111,15 @@ if(ENABLE_SYSTEM_TESTING_EXTRA)
set(ENABLE_SYSTEM_TESTING ON) set(ENABLE_SYSTEM_TESTING ON)
endif() endif()
option(ENABLE_OWN_GPSTK "Force to download, build and link GPSTk for system tests, even if it is already installed" OFF) 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) option(ENABLE_INSTALL_TESTS "Install QA code system-wide" OFF)
if(ENABLE_FPGA) if(ENABLE_FPGA)
@ -330,7 +338,7 @@ else()
set(GNSSSDR_GTEST_LOCAL_VERSION "1.12.1") set(GNSSSDR_GTEST_LOCAL_VERSION "1.12.1")
endif() endif()
set(GNSSSDR_GNSS_SIM_LOCAL_VERSION "master") set(GNSSSDR_GNSS_SIM_LOCAL_VERSION "master")
set(GNSSSDR_GPSTK_LOCAL_VERSION "8.0.0") set(GNSSSDR_GNSSTK_LOCAL_VERSION "12.1.0")
set(GNSSSDR_MATIO_LOCAL_VERSION "1.5.23") set(GNSSSDR_MATIO_LOCAL_VERSION "1.5.23")
set(GNSSSDR_PUGIXML_LOCAL_VERSION "1.12") set(GNSSSDR_PUGIXML_LOCAL_VERSION "1.12")
set(GNSSSDR_PROTOCOLBUFFERS_LOCAL_VERSION "21.1") set(GNSSSDR_PROTOCOLBUFFERS_LOCAL_VERSION "21.1")
@ -654,16 +662,16 @@ endif()
# Detect availability of std::filesystem and set C++ standard accordingly # Detect availability of std::filesystem and set C++ standard accordingly
################################################################################ ################################################################################
set(FILESYSTEM_FOUND FALSE) set(FILESYSTEM_FOUND FALSE)
if(NOT ENABLE_OWN_GPSTK) if(NOT ENABLE_OWN_GNSSTK)
find_package(GPSTK) find_package(GNSSTK)
set_package_properties(GPSTK PROPERTIES set_package_properties(GNSSTK PROPERTIES
PURPOSE "Used in some Extra Tests." PURPOSE "Used in some Extra Tests."
) )
endif() endif()
if(NOT (GNURADIO_VERSION VERSION_LESS 3.8) AND (LOG4CPP_READY_FOR_CXX17 OR GNURADIO_USES_SPDLOG)) if(NOT (GNURADIO_VERSION VERSION_LESS 3.8) AND (LOG4CPP_READY_FOR_CXX17 OR GNURADIO_USES_SPDLOG))
# Check if we have std::filesystem # Check if we have std::filesystem
if(NOT (CMAKE_VERSION VERSION_LESS 3.8)) 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) find_package(FILESYSTEM COMPONENTS Final Experimental)
set_package_properties(FILESYSTEM PROPERTIES set_package_properties(FILESYSTEM PROPERTIES
URL "https://en.cppreference.com/w/cpp/filesystem" URL "https://en.cppreference.com/w/cpp/filesystem"
@ -3361,7 +3369,7 @@ add_feature_info(ENABLE_UNIT_TESTING_MINIMAL ENABLE_UNIT_TESTING_MINIMAL "Enable
add_feature_info(ENABLE_UNIT_TESTING_EXTRA ENABLE_UNIT_TESTING_EXTRA "Enables building of Extra Unit Tests and downloading of external data files.") add_feature_info(ENABLE_UNIT_TESTING_EXTRA ENABLE_UNIT_TESTING_EXTRA "Enables building of Extra Unit Tests and downloading of external data files.")
add_feature_info(ENABLE_SYSTEM_TESTING ENABLE_SYSTEM_TESTING "Enables building of System Tests.") add_feature_info(ENABLE_SYSTEM_TESTING ENABLE_SYSTEM_TESTING "Enables building of System Tests.")
add_feature_info(ENABLE_SYSTEM_TESTING_EXTRA ENABLE_SYSTEM_TESTING_EXTRA "Enables building of Extra System Tests and downloading of external tools.") add_feature_info(ENABLE_SYSTEM_TESTING_EXTRA ENABLE_SYSTEM_TESTING_EXTRA "Enables building of Extra System Tests and downloading of external tools.")
add_feature_info(ENABLE_OWN_GPSTK ENABLE_OWN_GPSTK "Forces the downloading and building of GPSTk for system tests.") add_feature_info(ENABLE_OWN_GNSSTK ENABLE_OWN_GNSSTK "Forces the downloading and building of gnsstk for system tests.")
add_feature_info(ENABLE_GNSS_SIM_INSTALL ENABLE_GNSS_SIM_INSTALL "Enables downloading and building of gnss-sim.") add_feature_info(ENABLE_GNSS_SIM_INSTALL ENABLE_GNSS_SIM_INSTALL "Enables downloading and building of gnss-sim.")
add_feature_info(ENABLE_INSTALL_TESTS ENABLE_INSTALL_TESTS "Install test binaries when doing '${CMAKE_MAKE_PROGRAM_PRETTY_NAME} install'.") add_feature_info(ENABLE_INSTALL_TESTS ENABLE_INSTALL_TESTS "Install test binaries when doing '${CMAKE_MAKE_PROGRAM_PRETTY_NAME} install'.")
add_feature_info(ENABLE_BENCHMARKS ENABLE_BENCHMARKS "Enables building of code snippet benchmarks.") add_feature_info(ENABLE_BENCHMARKS ENABLE_BENCHMARKS "Enables building of code snippet benchmarks.")

8
README.md
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@ -2048,10 +2048,10 @@ PVT.rtcm_MT1077_rate_ms=1000
the user to post-process the received data to produce a more accurate result the user to post-process the received data to produce a more accurate result
(usually with other data unknown to the original receiver, such as better (usually with other data unknown to the original receiver, such as better
models of the atmospheric conditions at time of measurement). RINEX files can models of the atmospheric conditions at time of measurement). RINEX files can
be used by software packages such as [GPSTk](https://github.com/SGL-UT/GPSTk), be used by software packages such as
[RTKLIB](http://www.rtklib.com/), and [gLAB](https://gage.upc.edu/gLAB/). [GNSSTK](https://github.com/SGL-UT/gnsstk), [RTKLIB](http://www.rtklib.com/),
GNSS-SDR by default generates RINEX version and [gLAB](https://gage.upc.edu/gLAB/). GNSS-SDR by default generates RINEX
[3.02](ftp://igs.org/pub/data/format/rinex302.pdf). If version [3.02](ftp://igs.org/pub/data/format/rinex302.pdf). If
[2.11](ftp://igs.org/pub/data/format/rinex211.txt) is needed, it can be [2.11](ftp://igs.org/pub/data/format/rinex211.txt) is needed, it can be
requested through the `rinex_version` parameter in the configuration file: requested through the `rinex_version` parameter in the configuration file:

139
cmake/Modules/FindGNSSTK.cmake Normal file
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@ -0,0 +1,139 @@
# GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
# This file is part of GNSS-SDR.
#
# SPDX-FileCopyrightText: 2022 C. Fernandez-Prades cfernandez(at)cttc.es
# SPDX-License-Identifier: BSD-3-Clause
# - Find gnsstk library
# Find the native gnsstk includes and library
# This module defines
# GNSSTK_INCLUDE_DIR, where to find Rinex3ObsBase.hpp, etc.
# GNSSTK_FOUND, If false, do not try to use GNSSTK.
# GNSSTK_LIBRARY, where to find the GNSSTK library.
#
# Provides the following imported target:
# Gnsstk::gnsstk
#
if(NOT COMMAND feature_summary)
include(FeatureSummary)
endif()
if(NOT GNSSTK_ROOT)
set(GNSSTK_ROOT_USER_DEFINED /usr/local)
else()
set(GNSSTK_ROOT_USER_DEFINED ${GNSSTK_ROOT})
endif()
if(DEFINED ENV{GNSSTK_ROOT})
set(GNSSTK_ROOT_USER_DEFINED
${GNSSTK_ROOT_USER_DEFINED}
$ENV{GNSSTK_ROOT}
)
endif()
unset(GNSSTK_INCLUDE_DIR CACHE)
unset(GNSSTK_USES_GPSTK_NAMESPACE CACHE)
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 ${CMAKE_FIND_LIBRARY_PREFIXES}gnsstk${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)
find_library(GNSSTK_LIBRARY NAMES ${GNSSTK_NAMES}
PATHS ${GNSSTK_ROOT_USER_DEFINED}/lib
${GNSSTK_ROOT_USER_DEFINED}/${CMAKE_INSTALL_LIBDIR}
/usr/local/lib
/usr/${CMAKE_INSTALL_LIBDIR}
/usr/local/${CMAKE_INSTALL_LIBDIR}
/opt/local/lib
)
if(GNSSTK_LIBRARY AND GNSSTK_INCLUDE_DIR)
set(OLD_PACKAGE_VERSION ${PACKAGE_VERSION})
unset(PACKAGE_VERSION)
if(GNSSTK_USES_GPSTK_NAMESPACE)
if(EXISTS ${GNSSTK_INCLUDE_DIR}/../share/cmake/GPSTK/GPSTKConfigVersion.cmake)
include(${GNSSTK_INCLUDE_DIR}/../share/cmake/GPSTK/GPSTKConfigVersion.cmake)
endif()
else()
if(EXISTS ${GNSSTK_INCLUDE_DIR}/../share/cmake/GNSSTK/GNSSTKConfigVersion.cmake)
include(${GNSSTK_INCLUDE_DIR}/../share/cmake/GNSSTK/GNSSTKConfigVersion.cmake)
endif()
endif()
if(PACKAGE_VERSION)
set(GNSSTK_VERSION ${PACKAGE_VERSION})
endif()
set(PACKAGE_VERSION ${OLD_PACKAGE_VERSION})
endif()
if(GNSSTK_VERSION)
if(GNSSTK_VERSION VERSION_GREATER ${GNSSSDR_GNSSTK_LOCAL_VERSION})
unset(GNSSTK_LIBRARY CACHE)
unset(GNSSTK_INCLUDE_DIR CACHE)
endif()
endif()
# handle the QUIET and REQUIRED arguments and set GNSSTK_FOUND to TRUE if
# all listed variables are TRUE
include(FindPackageHandleStandardArgs)
find_package_handle_standard_args(GNSSTK DEFAULT_MSG GNSSTK_LIBRARY GNSSTK_INCLUDE_DIR)
if(GNSSTK_FOUND AND GNSSTK_VERSION)
set_package_properties(GNSSTK PROPERTIES
DESCRIPTION "The GNSSTk C++ Library (found: v${GNSSTK_VERSION})"
)
else()
set_package_properties(GNSSTK PROPERTIES
DESCRIPTION "The GNSSTk C++ Library"
)
endif()
if(GNSSTK_FOUND AND GNSSTK_USES_GPSTK_NAMESPACE AND NOT EXISTS ${GNSSTK_INCLUDE_DIR}/gpstk/SatelliteSystem.hpp)
set(GNSSTK_OLDER_THAN_8 TRUE)
endif()
set_package_properties(GNSSTK PROPERTIES
URL "https://github.com/SGL-UT/gnsstk/"
TYPE OPTIONAL
)
if(GNSSTK_FOUND AND NOT ENABLE_OWN_GNSSTK AND NOT TARGET Gnsstk::gnsstk)
add_library(Gnsstk::gnsstk SHARED IMPORTED)
if(GNSSTK_USES_GPSTK_NAMESPACE)
set_target_properties(Gnsstk::gnsstk PROPERTIES
IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
IMPORTED_LOCATION "${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
GNSSTK_USES_GPSTK_NAMESPACE
GNSSTK_OLDER_THAN_8
)

99
cmake/Modules/FindGPSTK.cmake
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@ -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 ${GPSTK_INCLUDE_DIR}/gpstk/SatelliteSystem.hpp)
set(GPSTK_OLDER_THAN_8 TRUE)
endif()
set_package_properties(GPSTK PROPERTIES
URL "https://github.com/SGL-UT/GPSTk"
)
if(GPSTK_FOUND AND NOT ENABLE_OWN_GPSTK AND NOT TARGET Gpstk::gpstk)
add_library(Gpstk::gpstk SHARED IMPORTED)
set_target_properties(Gpstk::gpstk PROPERTIES
IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
IMPORTED_LOCATION "${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 **not** applied to the computed PVT solution. In the Galileo E6B-only
receiver, HAS messages are decoded and reported. 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: ### Improvements in Portability:
- Improved detection of the BLAS library under macOS / Macports (the `lapack` - Improved detection of the BLAS library under macOS / Macports (the `lapack`

2
docs/doxygen/other/main_page.dox
View File

@ -514,7 +514,7 @@ Observables.dump_filename=./observables.dat
\subsection pvt Computation of Position, Velocity and Time \subsection pvt Computation of Position, Velocity and Time
Although data processing for obtaining high-accuracy PVT solutions is out of the scope of GNSS-SDR, we provide a module that can compute a simple least square Although data processing for obtaining high-accuracy PVT solutions is out of the scope of GNSS-SDR, we provide a module that can compute a simple least square
solution and leaves room for more sophisticated positioning methods. The integration with libraries and software tools that are able to deal with multi-constellation solution and leaves room for more sophisticated positioning methods. The integration with libraries and software tools that are able to deal with multi-constellation
data such as <a href="https://github.com/SGL-UT/GPSTk" target="_blank">GPSTk</a> or <a href="https://gage.upc.edu/gLAB/" target="_blank">gLAB</a> appears as a viable solution for high performance, completely customizable GNSS receivers. data such as <a href="https://github.com/SGL-UT/gnsstk" target="_blank">GNSSTk</a> or <a href="https://gage.upc.edu/gLAB/" target="_blank">gLAB</a> appears as a viable solution for high performance, completely customizable GNSS receivers.
The common interface is PvtInterface. For instance, in order to use the implementation RTKLIB_PVT, add to the configuration file: The common interface is PvtInterface. For instance, in order to use the implementation RTKLIB_PVT, add to the configuration file:
\verbatim \verbatim

99
src/tests/CMakeLists.txt
View File

@ -111,7 +111,7 @@ if(NOT GOOGLETEST_FOUND)
MAP_IMPORTED_CONFIG_O3WITHASM RelWithDebInfo MAP_IMPORTED_CONFIG_O3WITHASM RelWithDebInfo
MAP_IMPORTED_CONFIG_ASAN Debug MAP_IMPORTED_CONFIG_ASAN Debug
IMPORTED_LOCATION_NONE ${binary_dir}/lib/${CMAKE_FIND_LIBRARY_PREFIXES}gtest${CMAKE_STATIC_LIBRARY_SUFFIX} IMPORTED_LOCATION_NONE ${binary_dir}/lib/${CMAKE_FIND_LIBRARY_PREFIXES}gtest${CMAKE_STATIC_LIBRARY_SUFFIX}
IMPORTED_LOCATION_DEBUG ${binary_dir}/lib/${CMAKE_FIND_LIBRARY_PREFIXES}gtest${DEBUG_DECORATION}${CMAKE_STATIC_LIBRARY_SUFFIX} IMPORTED_LOCATION_DEBUG ${binary_dir}/lib/${CMAKE_FIND_LIBRARY_PREFIXES}gtest${CMAKE_STATIC_LIBRARY_SUFFIX}
IMPORTED_LOCATION_RELEASE ${binary_dir}/lib/${CMAKE_FIND_LIBRARY_PREFIXES}gtest${CMAKE_STATIC_LIBRARY_SUFFIX} IMPORTED_LOCATION_RELEASE ${binary_dir}/lib/${CMAKE_FIND_LIBRARY_PREFIXES}gtest${CMAKE_STATIC_LIBRARY_SUFFIX}
IMPORTED_LOCATION_RELWITHDEBINFO ${binary_dir}/lib/${CMAKE_FIND_LIBRARY_PREFIXES}gtest${CMAKE_STATIC_LIBRARY_SUFFIX} IMPORTED_LOCATION_RELWITHDEBINFO ${binary_dir}/lib/${CMAKE_FIND_LIBRARY_PREFIXES}gtest${CMAKE_STATIC_LIBRARY_SUFFIX}
IMPORTED_LOCATION_MINSIZEREL ${binary_dir}/lib/${CMAKE_FIND_LIBRARY_PREFIXES}gtest${CMAKE_STATIC_LIBRARY_SUFFIX} IMPORTED_LOCATION_MINSIZEREL ${binary_dir}/lib/${CMAKE_FIND_LIBRARY_PREFIXES}gtest${CMAKE_STATIC_LIBRARY_SUFFIX}
@ -279,7 +279,7 @@ endif()
################################################################################ ################################################################################
# GPSTk and optional generator # gnsstk and optional generator
################################################################################ ################################################################################
if(ENABLE_UNIT_TESTING_EXTRA OR ENABLE_SYSTEM_TESTING_EXTRA OR ENABLE_FPGA) if(ENABLE_UNIT_TESTING_EXTRA OR ENABLE_SYSTEM_TESTING_EXTRA OR ENABLE_FPGA)
@ -338,42 +338,42 @@ if(ENABLE_UNIT_TESTING_EXTRA OR ENABLE_SYSTEM_TESTING_EXTRA OR ENABLE_FPGA)
endif() endif()
############################################################################ ############################################################################
# Local installation of GPSTk https://github.com/SGL-UT/GPSTk # Local installation of gnsstk https://github.com/SGL-UT/gnsstk
############################################################################ ############################################################################
if(NOT GPSTK_FOUND OR ENABLE_OWN_GPSTK) if(NOT GNSSTK_FOUND OR ENABLE_OWN_GNSSTK)
set_package_properties(GPSTK PROPERTIES set_package_properties(GNSSTK PROPERTIES
PURPOSE "GPSTk v${GNSSSDR_GPSTK_LOCAL_VERSION} will be automatically downloaded and built when doing '${CMAKE_MAKE_PROGRAM_PRETTY_NAME}'." PURPOSE "GNSSTk v${GNSSSDR_GNSSTK_LOCAL_VERSION} will be automatically downloaded and built when doing '${CMAKE_MAKE_PROGRAM_PRETTY_NAME}'."
) )
if("${TOOLCHAIN_ARG}" STREQUAL "") if("${TOOLCHAIN_ARG}" STREQUAL "")
set(TOOLCHAIN_ARG "-DCMAKE_CXX_FLAGS=-Wno-deprecated") set(TOOLCHAIN_ARG "-DCMAKE_CXX_FLAGS=-Wno-deprecated")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-deprecated") set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-deprecated")
endif() endif()
set(GPSTK_BUILD_COMMAND "${CMAKE_MAKE_PROGRAM}") set(GNSSTK_BUILD_COMMAND "${CMAKE_MAKE_PROGRAM}")
if(CMAKE_GENERATOR STREQUAL Xcode) if(CMAKE_GENERATOR STREQUAL Xcode)
set(GPSTK_BUILD_COMMAND "xcodebuild" "-configuration" "${CMAKE_BUILD_TYPE}") set(GNSSTK_BUILD_COMMAND "xcodebuild" "-configuration" "${CMAKE_BUILD_TYPE}")
endif() endif()
include(GNUInstallDirs) include(GNUInstallDirs)
find_program(Patch_EXECUTABLE NAME patch PATHS ENV PATH) find_program(Patch_EXECUTABLE NAME patch PATHS ENV PATH)
if(NOT Patch_EXECUTABLE) if(NOT Patch_EXECUTABLE)
message(FATAL_ERROR "The patch command is not found. It is required to build GPSTk. Please check your OS documentation and install the patch command.") message(FATAL_ERROR "The patch command is not found. It is required to build GNSSTk. Please check your OS documentation and install the patch command.")
endif() endif()
set(GPSTK_PATCH_COMMAND set(GNSSTK_PATCH_COMMAND
cd ${CMAKE_BINARY_DIR}/thirdparty/gpstk-${GNSSSDR_GPSTK_LOCAL_VERSION} && cd ${CMAKE_BINARY_DIR}/thirdparty/gnsstk-${GNSSSDR_GNSSTK_LOCAL_VERSION} &&
${Patch_EXECUTABLE} ${CMAKE_BINARY_DIR}/thirdparty/gpstk-${GNSSSDR_GPSTK_LOCAL_VERSION}/CMakeLists.txt < ${CMAKE_SOURCE_DIR}/src/tests/data/gpstk_static.patch ${Patch_EXECUTABLE} ${CMAKE_BINARY_DIR}/thirdparty/gnsstk-${GNSSSDR_GNSSTK_LOCAL_VERSION}/CMakeLists.txt < ${CMAKE_SOURCE_DIR}/src/tests/data/gnsstk_static.patch
) )
# Patch only once # Patch only once
if(EXISTS ${CMAKE_BINARY_DIR}/thirdparty/gpstk-${GNSSSDR_GPSTK_LOCAL_VERSION}/CMakeLists.txt) if(EXISTS ${CMAKE_BINARY_DIR}/thirdparty/gnsstk-${GNSSSDR_GNSSTK_LOCAL_VERSION}/CMakeLists.txt)
set(GPSTK_PATCH_COMMAND "") set(GNSSTK_PATCH_COMMAND "")
endif() endif()
if(CMAKE_VERSION VERSION_LESS 3.2) if(CMAKE_VERSION VERSION_LESS 3.2)
ExternalProject_Add(gpstk-${GNSSSDR_GPSTK_LOCAL_VERSION} ExternalProject_Add(gnsstk-${GNSSSDR_GNSSTK_LOCAL_VERSION}
GIT_REPOSITORY https://github.com/SGL-UT/GPSTk GIT_REPOSITORY https://github.com/SGL-UT/gnsstk
GIT_TAG v${GNSSSDR_GPSTK_LOCAL_VERSION} GIT_TAG v${GNSSSDR_GNSSTK_LOCAL_VERSION}
SOURCE_DIR ${CMAKE_BINARY_DIR}/thirdparty/gpstk-${GNSSSDR_GPSTK_LOCAL_VERSION} SOURCE_DIR ${CMAKE_BINARY_DIR}/thirdparty/gnsstk-${GNSSSDR_GNSSTK_LOCAL_VERSION}
BINARY_DIR ${CMAKE_BINARY_DIR}/gpstk-${GNSSSDR_GPSTK_LOCAL_VERSION} BINARY_DIR ${CMAKE_BINARY_DIR}/gnsstk-${GNSSSDR_GNSSTK_LOCAL_VERSION}
PATCH_COMMAND ${GPSTK_PATCH_COMMAND} PATCH_COMMAND ${GNSSTK_PATCH_COMMAND}
CMAKE_ARGS ${GTEST_COMPILER} ${TOOLCHAIN_ARG} CMAKE_ARGS ${GTEST_COMPILER} ${TOOLCHAIN_ARG}
-DCMAKE_INSTALL_PREFIX=${CMAKE_BINARY_DIR}/gpstk-${GNSSSDR_GPSTK_LOCAL_VERSION}/install -DCMAKE_INSTALL_PREFIX=${CMAKE_BINARY_DIR}/gnsstk-${GNSSSDR_GNSSTK_LOCAL_VERSION}/install
-DBUILD_EXT=ON -DBUILD_EXT=ON
-DBUILD_PYTHON=OFF -DBUILD_PYTHON=OFF
-DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE} -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE}
@ -381,7 +381,7 @@ if(ENABLE_UNIT_TESTING_EXTRA OR ENABLE_SYSTEM_TESTING_EXTRA OR ENABLE_FPGA)
-DCMAKE_CXX_EXTENSIONS=ON -DCMAKE_CXX_EXTENSIONS=ON
-DCMAKE_C_STANDARD=11 -DCMAKE_C_STANDARD=11
-DCMAKE_C_EXTENSIONS=ON -DCMAKE_C_EXTENSIONS=ON
BUILD_COMMAND ${GPSTK_BUILD_COMMAND} BUILD_COMMAND ${GNSSTK_BUILD_COMMAND}
UPDATE_COMMAND "" UPDATE_COMMAND ""
) )
else() else()
@ -389,18 +389,18 @@ if(ENABLE_UNIT_TESTING_EXTRA OR ENABLE_SYSTEM_TESTING_EXTRA OR ENABLE_FPGA)
include(ProcessorCount) include(ProcessorCount)
ProcessorCount(NUMBER_OF_PROCESSORS) ProcessorCount(NUMBER_OF_PROCESSORS)
if(NUMBER_OF_PROCESSORS GREATER 1) if(NUMBER_OF_PROCESSORS GREATER 1)
set(GPSTK_PARALLEL_BUILD "-j${NUMBER_OF_PROCESSORS}") set(GNSSTK_PARALLEL_BUILD "-j${NUMBER_OF_PROCESSORS}")
endif() endif()
endif() endif()
ExternalProject_Add(gpstk-${GNSSSDR_GPSTK_LOCAL_VERSION} ExternalProject_Add(gnsstk-${GNSSSDR_GNSSTK_LOCAL_VERSION}
GIT_REPOSITORY https://github.com/SGL-UT/GPSTk GIT_REPOSITORY https://github.com/SGL-UT/gnsstk
GIT_TAG v${GNSSSDR_GPSTK_LOCAL_VERSION} GIT_TAG v${GNSSSDR_GNSSTK_LOCAL_VERSION}
SOURCE_DIR ${CMAKE_BINARY_DIR}/thirdparty/gpstk-${GNSSSDR_GPSTK_LOCAL_VERSION} SOURCE_DIR ${CMAKE_BINARY_DIR}/thirdparty/gnsstk-${GNSSSDR_GNSSTK_LOCAL_VERSION}
BINARY_DIR ${CMAKE_BINARY_DIR}/gpstk-${GNSSSDR_GPSTK_LOCAL_VERSION} BINARY_DIR ${CMAKE_BINARY_DIR}/gnsstk-${GNSSSDR_GNSSTK_LOCAL_VERSION}
PATCH_COMMAND ${GPSTK_PATCH_COMMAND} PATCH_COMMAND ${GNSSTK_PATCH_COMMAND}
CMAKE_ARGS ${GTEST_COMPILER} ${TOOLCHAIN_ARG} CMAKE_ARGS ${GTEST_COMPILER} ${TOOLCHAIN_ARG}
-DCMAKE_INSTALL_PREFIX=${CMAKE_BINARY_DIR}/gpstk-${GNSSSDR_GPSTK_LOCAL_VERSION}/install -DCMAKE_INSTALL_PREFIX=${CMAKE_BINARY_DIR}/gnsstk-${GNSSSDR_GNSSTK_LOCAL_VERSION}/install
-DBUILD_EXT=ON -DBUILD_EXT=ON
-DBUILD_PYTHON=OFF -DBUILD_PYTHON=OFF
-DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE} -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE}
@ -408,28 +408,28 @@ if(ENABLE_UNIT_TESTING_EXTRA OR ENABLE_SYSTEM_TESTING_EXTRA OR ENABLE_FPGA)
-DCMAKE_CXX_EXTENSIONS=ON -DCMAKE_CXX_EXTENSIONS=ON
-DCMAKE_C_STANDARD=11 -DCMAKE_C_STANDARD=11
-DCMAKE_C_EXTENSIONS=ON -DCMAKE_C_EXTENSIONS=ON
BUILD_COMMAND ${GPSTK_BUILD_COMMAND} ${GPSTK_PARALLEL_BUILD} BUILD_COMMAND ${GNSSTK_BUILD_COMMAND} ${GNSSTK_PARALLEL_BUILD}
BUILD_BYPRODUCTS ${CMAKE_BINARY_DIR}/gpstk-${GNSSSDR_GPSTK_LOCAL_VERSION}/install/lib/${CMAKE_FIND_LIBRARY_PREFIXES}gpstk${CMAKE_STATIC_LIBRARY_SUFFIX} BUILD_BYPRODUCTS ${CMAKE_BINARY_DIR}/gnsstk-${GNSSSDR_GNSSTK_LOCAL_VERSION}/install/lib/${CMAKE_FIND_LIBRARY_PREFIXES}gnsstk${CMAKE_STATIC_LIBRARY_SUFFIX}
UPDATE_COMMAND "" UPDATE_COMMAND ""
) )
endif() endif()
set(GPSTK_INCLUDE_DIRS ${CMAKE_BINARY_DIR}/gpstk-${GNSSSDR_GPSTK_LOCAL_VERSION}/install/include CACHE PATH "Local GPSTK headers") set(GNSSTK_INCLUDE_DIRS ${CMAKE_BINARY_DIR}/gnsstk-${GNSSSDR_GNSSTK_LOCAL_VERSION}/install/include CACHE PATH "Local GNSSTK headers")
set(GPSTK_LIBRARY ${CMAKE_BINARY_DIR}/gpstk-${GNSSSDR_GPSTK_LOCAL_VERSION}/install/lib/${CMAKE_FIND_LIBRARY_PREFIXES}gpstk${CMAKE_STATIC_LIBRARY_SUFFIX}) set(GNSSTK_LIBRARY ${CMAKE_BINARY_DIR}/gnsstk-${GNSSSDR_GNSSTK_LOCAL_VERSION}/install/lib/${CMAKE_FIND_LIBRARY_PREFIXES}gnsstk${CMAKE_STATIC_LIBRARY_SUFFIX})
set(GPSTK_BINDIR ${CMAKE_BINARY_DIR}/gpstk-${GNSSSDR_GPSTK_LOCAL_VERSION}/install/bin/) set(GNSSTK_BINDIR ${CMAKE_BINARY_DIR}/gnsstk-${GNSSSDR_GNSSTK_LOCAL_VERSION}/install/bin/)
add_definitions(-DGPSTK_BINDIR="${GPSTK_BINDIR}") add_definitions(-DGNSSTK_BINDIR="${GNSSTK_BINDIR}")
add_library(Gpstk::gpstk STATIC IMPORTED) add_library(Gnsstk::gnsstk STATIC IMPORTED)
add_dependencies(Gpstk::gpstk gpstk-${GNSSSDR_GPSTK_LOCAL_VERSION}) add_dependencies(Gnsstk::gnsstk gnsstk-${GNSSSDR_GNSSTK_LOCAL_VERSION})
file(MAKE_DIRECTORY ${GPSTK_INCLUDE_DIRS}) file(MAKE_DIRECTORY ${GNSSTK_INCLUDE_DIRS})
file(MAKE_DIRECTORY ${GPSTK_INCLUDE_DIRS}/gpstk) file(MAKE_DIRECTORY ${GNSSTK_INCLUDE_DIRS}/gnsstk)
set_target_properties(Gpstk::gpstk PROPERTIES set_target_properties(Gnsstk::gnsstk PROPERTIES
IMPORTED_LINK_INTERFACE_LANGUAGES "CXX" IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
IMPORTED_LOCATION "${GPSTK_LIBRARY}" IMPORTED_LOCATION "${GNSSTK_LIBRARY}"
INTERFACE_INCLUDE_DIRECTORIES "${GPSTK_INCLUDE_DIRS};${GPSTK_INCLUDE_DIRS}/gpstk" INTERFACE_INCLUDE_DIRECTORIES "${GNSSTK_INCLUDE_DIRS};${GNSSTK_INCLUDE_DIRS}/gnsstk"
INTERFACE_LINK_LIBRARIES "${GPSTK_LIBRARY}" INTERFACE_LINK_LIBRARIES "${GNSSTK_LIBRARY}"
) )
else() else()
set(GPSTK_BINDIR ${GPSTK_INCLUDE_DIR}/../bin/) set(GNSSTK_BINDIR ${GNSSTK_INCLUDE_DIR}/../bin/)
add_definitions(-DGPSTK_BINDIR="${GPSTK_BINDIR}") add_definitions(-DGNSSTK_BINDIR="${GNSSTK_BINDIR}")
endif() endif()
endif() endif()
@ -554,10 +554,13 @@ if(ENABLE_UNIT_TESTING)
) )
endif() endif()
if(ENABLE_UNIT_TESTING_EXTRA) if(ENABLE_UNIT_TESTING_EXTRA)
target_link_libraries(run_tests PRIVATE Gpstk::gpstk) target_link_libraries(run_tests PRIVATE Gnsstk::gnsstk)
if(GPSTK_OLDER_THAN_8) if(GNSSTK_OLDER_THAN_8)
target_compile_definitions(run_tests PRIVATE -DOLD_GPSTK=1) target_compile_definitions(run_tests PRIVATE -DOLD_GPSTK=1)
endif() endif()
if(GNSSTK_USES_GPSTK_NAMESPACE)
target_compile_definitions(run_tests PRIVATE -DGNSSTK_USES_GPSTK_NAMESPACE=1)
endif()
endif() endif()
if(ENABLE_STRIP) if(ENABLE_STRIP)
set_target_properties(run_tests PROPERTIES LINK_FLAGS "-s") set_target_properties(run_tests PROPERTIES LINK_FLAGS "-s")

39
src/tests/data/gnsstk_static.patch Normal file
View File

@ -0,0 +1,39 @@
SPDX-License-Identifier: GPL-3.0-or-later
SPDX-FileCopyrightText: 2022 Carles Fernandez-Prades <carles.fernandez@cttc.es>
--- CMakeLists.txt 2022-07-02 20:14:59.000000000 +0200
+++ CMakeLists.txt 2022-07-02 20:16:55.000000000 +0200
@@ -6,7 +6,7 @@
# Is dependend on by $GNSSTK/build.sh
#============================================================
-cmake_minimum_required( VERSION 2.8.5 )
+cmake_minimum_required( VERSION 2.8.12 )
project( GNSSTK )
set( GNSSTK_VERSION_MAJOR "12" )
@@ -77,6 +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 +171,7 @@
add_library( gnsstk ${STADYN} ${GNSSTK_SRC_FILES} ${GNSSTK_INC_FILES} )
# GNSSTk library install target
-install( TARGETS gnsstk DESTINATION "${CMAKE_INSTALL_LIBDIR}" EXPORT "${EXPORT_TARGETS_FILENAME}" )
+install( TARGETS gnsstk DESTINATION lib EXPORT "${EXPORT_TARGETS_FILENAME}" )
# GNSSTk header file install target (whether it is version dependent changes based on user flag)
install( FILES ${GNSSTK_INC_FILES} DESTINATION ${CMAKE_INSTALL_INCLUDEDIR} )

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
#============================================================
@@ -160,7 +169,7 @@
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/blocks/null_sink.h>
#include <gnuradio/filter/firdes.h> #include <gnuradio/filter/firdes.h>
#include <gnuradio/top_block.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 <gtest/gtest.h>
#include <matio.h> #include <matio.h>
#include <pmt/pmt.h> #include <pmt/pmt.h>
@ -70,6 +65,20 @@
#include <exception> #include <exception>
#include <unistd.h> #include <unistd.h>
#include <utility> #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 #if HAS_GENERIC_LAMBDA
#else #else
@ -1556,17 +1565,17 @@ bool HybridObservablesTest::ReadRinexObs(std::vector<arma::mat>* obs_vec, Gnss_S
// Open and read reference RINEX observables file // Open and read reference RINEX observables file
try try
{ {
gpstk::Rinex3ObsStream r_ref(FLAGS_filename_rinex_obs); gnsstk::Rinex3ObsStream r_ref(FLAGS_filename_rinex_obs);
r_ref.exceptions(std::ios::failbit); r_ref.exceptions(std::ios::failbit);
gpstk::Rinex3ObsData r_ref_data; gnsstk::Rinex3ObsData r_ref_data;
gpstk::Rinex3ObsHeader r_ref_header; gnsstk::Rinex3ObsHeader r_ref_header;
gpstk::RinexDatum dataobj; gnsstk::RinexDatum dataobj;
r_ref >> r_ref_header; r_ref >> r_ref_header;
std::vector<bool> first_row; std::vector<bool> first_row;
gpstk::SatID prn; gnsstk::SatID prn;
for (unsigned int n = 0; n < gnss_synchro_vec.size(); n++) for (unsigned int n = 0; n < gnss_synchro_vec.size(); n++)
{ {
first_row.push_back(true); first_row.push_back(true);
@ -1582,28 +1591,28 @@ bool HybridObservablesTest::ReadRinexObs(std::vector<arma::mat>* obs_vec, Gnss_S
{ {
case 'G': case 'G':
#if OLD_GPSTK #if OLD_GPSTK
prn = gpstk::SatID(myprn, gpstk::SatID::systemGPS); prn = gnsstk::SatID(myprn, gnsstk::SatID::systemGPS);
#else #else
prn = gpstk::SatID(myprn, gpstk::SatelliteSystem::GPS); prn = gnsstk::SatID(myprn, gnsstk::SatelliteSystem::GPS);
#endif #endif
break; break;
case 'E': case 'E':
#if OLD_GPSTK #if OLD_GPSTK
prn = gpstk::SatID(myprn, gpstk::SatID::systemGalileo); prn = gnsstk::SatID(myprn, gnsstk::SatID::systemGalileo);
#else #else
prn = gpstk::SatID(myprn, gpstk::SatelliteSystem::Galileo); prn = gnsstk::SatID(myprn, gnsstk::SatelliteSystem::Galileo);
#endif #endif
break; break;
default: default:
#if OLD_GPSTK #if OLD_GPSTK
prn = gpstk::SatID(myprn, gpstk::SatID::systemGPS); prn = gnsstk::SatID(myprn, gnsstk::SatID::systemGPS);
#else #else
prn = gpstk::SatID(myprn, gpstk::SatelliteSystem::GPS); prn = gnsstk::SatID(myprn, gnsstk::SatelliteSystem::GPS);
#endif #endif
} }
gpstk::CommonTime time = r_ref_data.time; gnsstk::CommonTime time = r_ref_data.time;
double sow(static_cast<gpstk::GPSWeekSecond>(time).sow); double sow(static_cast<gnsstk::GPSWeekSecond>(time).sow);
auto pointer = r_ref_data.obs.find(prn); auto pointer = r_ref_data.obs.find(prn);
if (pointer == r_ref_data.obs.end()) 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 while
} // End of 'try' block } // End of 'try' block
catch (const gpstk::FFStreamError& e) catch (const gnsstk::FFStreamError& e)
{ {
std::cout << e; std::cout << e;
return false; return false;
} }
catch (const gpstk::Exception& e) catch (const gnsstk::Exception& e)
{ {
std::cout << e; std::cout << e;
return false; 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/blocks/null_sink.h>
#include <gnuradio/filter/firdes.h> #include <gnuradio/filter/firdes.h>
#include <gnuradio/top_block.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 <gtest/gtest.h>
#include <matio.h> #include <matio.h>
#include <pmt/pmt.h> #include <pmt/pmt.h>
@ -71,6 +66,21 @@
#include <unistd.h> #include <unistd.h>
#include <utility> #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 #if HAS_GENERIC_LAMBDA
#else #else
#include <boost/bind/bind.hpp> #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 // Open and read reference RINEX observables file
try try
{ {
gpstk::Rinex3ObsStream r_ref(FLAGS_filename_rinex_obs); gnsstk::Rinex3ObsStream r_ref(FLAGS_filename_rinex_obs);
r_ref.exceptions(std::ios::failbit); r_ref.exceptions(std::ios::failbit);
gpstk::Rinex3ObsData r_ref_data; gnsstk::Rinex3ObsData r_ref_data;
gpstk::Rinex3ObsHeader r_ref_header; gnsstk::Rinex3ObsHeader r_ref_header;
gpstk::RinexDatum dataobj; gnsstk::RinexDatum dataobj;
r_ref >> r_ref_header; r_ref >> r_ref_header;
std::vector<bool> first_row; std::vector<bool> first_row;
gpstk::SatID prn; gnsstk::SatID prn;
for (unsigned int n = 0; n < gnss_synchro_vec.size(); n++) for (unsigned int n = 0; n < gnss_synchro_vec.size(); n++)
{ {
first_row.push_back(true); first_row.push_back(true);
@ -1674,28 +1684,28 @@ bool HybridObservablesTestFpga::ReadRinexObs(std::vector<arma::mat>* obs_vec, Gn
{ {
case 'G': case 'G':
#if OLD_GPSTK #if OLD_GPSTK
prn = gpstk::SatID(myprn, gpstk::SatID::systemGPS); prn = gnsstk::SatID(myprn, gnsstk::SatID::systemGPS);
#else #else
prn = gpstk::SatID(myprn, gpstk::SatelliteSystem::GPS); prn = gnsstk::SatID(myprn, gnsstk::SatelliteSystem::GPS);
#endif #endif
break; break;
case 'E': case 'E':
#if OLD_GPSTK #if OLD_GPSTK
prn = gpstk::SatID(myprn, gpstk::SatID::systemGalileo); prn = gnsstk::SatID(myprn, gnsstk::SatID::systemGalileo);
#else #else
prn = gpstk::SatID(myprn, gpstk::SatelliteSystem::Galileo); prn = gnsstk::SatID(myprn, gnsstk::SatelliteSystem::Galileo);
#endif #endif
break; break;
default: default:
#if OLD_GPSTK #if OLD_GPSTK
prn = gpstk::SatID(myprn, gpstk::SatID::systemGPS); prn = gnsstk::SatID(myprn, gnsstk::SatID::systemGPS);
#else #else
prn = gpstk::SatID(myprn, gpstk::SatelliteSystem::GPS); prn = gnsstk::SatID(myprn, gnsstk::SatelliteSystem::GPS);
#endif #endif
} }
gpstk::CommonTime time = r_ref_data.time; gnsstk::CommonTime time = r_ref_data.time;
double sow(static_cast<gpstk::GPSWeekSecond>(time).sow); double sow(static_cast<gnsstk::GPSWeekSecond>(time).sow);
auto pointer = r_ref_data.obs.find(prn); auto pointer = r_ref_data.obs.find(prn);
if (pointer == r_ref_data.obs.end()) if (pointer == r_ref_data.obs.end())
@ -1773,12 +1783,12 @@ bool HybridObservablesTestFpga::ReadRinexObs(std::vector<arma::mat>* obs_vec, Gn
} // end while } // end while
} // End of 'try' block } // End of 'try' block
catch (const gpstk::FFStreamError& e) catch (const gnsstk::FFStreamError& e)
{ {
std::cout << e; std::cout << e;
return false; return false;
} }
catch (const gpstk::Exception& e) catch (const gnsstk::Exception& e)
{ {
std::cout << e; std::cout << e;
return false; return false;

67
src/utils/rinex-tools/CMakeLists.txt
View File

@ -7,11 +7,18 @@
if("${ARMADILLO_VERSION_STRING}" VERSION_GREATER "9.800" OR (NOT ARMADILLO_FOUND) OR ENABLE_OWN_ARMADILLO) # requires back(), introduced in Armadillo 9.800 if("${ARMADILLO_VERSION_STRING}" VERSION_GREATER "9.800" OR (NOT ARMADILLO_FOUND) OR ENABLE_OWN_ARMADILLO) # requires back(), introduced in Armadillo 9.800
message(STATUS "The obsdiff utility tool will be built when doing '${CMAKE_MAKE_PROGRAM_PRETTY_NAME}'") message(STATUS "The obsdiff utility tool will be built when doing '${CMAKE_MAKE_PROGRAM_PRETTY_NAME}'")
find_package(GPSTK QUIET) if(NOT GNSSTK_FOUND)
if(NOT GPSTK_FOUND OR ENABLE_OWN_GPSTK) find_package(GNSSTK)
endif()
if(NOT GNSSTK_FOUND OR ENABLE_OWN_GNSSTK)
include(GNUInstallDirs) include(GNUInstallDirs)
set(GPSTK_LIBRARY ${CMAKE_BINARY_DIR}/gpstk-${GNSSSDR_GPSTK_LOCAL_VERSION}/install/lib/${CMAKE_FIND_LIBRARY_PREFIXES}gpstk${CMAKE_STATIC_LIBRARY_SUFFIX}) if(GNSSTK_USES_GPSTK_NAMESPACE)
set(GPSTK_INCLUDE_DIR ${CMAKE_BINARY_DIR}/gpstk-${GNSSSDR_GPSTK_LOCAL_VERSION}/install/include) set(GNSSTK_LIBRARY ${CMAKE_BINARY_DIR}/gnsstk-${GNSSSDR_GNSSTK_LOCAL_VERSION}/install/lib/${CMAKE_FIND_LIBRARY_PREFIXES}gpstk${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/lib/${CMAKE_FIND_LIBRARY_PREFIXES}gnsstk${CMAKE_STATIC_LIBRARY_SUFFIX})
set(GNSSTK_INCLUDE_DIR ${CMAKE_BINARY_DIR}/gnsstk-${GNSSSDR_GNSSTK_LOCAL_VERSION}/install/include)
endif()
endif() endif()
if(USE_CMAKE_TARGET_SOURCES) if(USE_CMAKE_TARGET_SOURCES)
@ -48,23 +55,43 @@ if("${ARMADILLO_VERSION_STRING}" VERSION_GREATER "9.800" OR (NOT ARMADILLO_FOUND
if(NOT GFLAGS_FOUND) if(NOT GFLAGS_FOUND)
add_dependencies(obsdiff gflags-${GNSSSDR_GFLAGS_LOCAL_VERSION}) add_dependencies(obsdiff gflags-${GNSSSDR_GFLAGS_LOCAL_VERSION})
endif() endif()
if(NOT GPSTK_FOUND OR ENABLE_OWN_GPSTK) if(NOT GNSSTK_FOUND OR ENABLE_OWN_GNSSTK)
add_dependencies(obsdiff gpstk-${GNSSSDR_GPSTK_LOCAL_VERSION}) add_dependencies(obsdiff gnsstk-${GNSSSDR_GNSSTK_LOCAL_VERSION})
endif() endif()
if(NOT MATIO_FOUND OR MATIO_VERSION_STRING VERSION_LESS ${GNSSSDR_MATIO_MIN_VERSION}) if(NOT MATIO_FOUND OR MATIO_VERSION_STRING VERSION_LESS ${GNSSSDR_MATIO_MIN_VERSION})
add_dependencies(obsdiff matio-${GNSSSDR_MATIO_LOCAL_VERSION}) add_dependencies(obsdiff matio-${GNSSSDR_MATIO_LOCAL_VERSION})
endif() endif()
if(GNSSTK_USES_GPSTK_NAMESPACE)
if(NOT TARGET Gpstk::gpstk) target_compile_definitions(obsdiff PRIVATE -DGNSSTK_USES_GPSTK_NAMESPACE=1)
file(MAKE_DIRECTORY ${GPSTK_INCLUDE_DIR}/gpstk) endif()
add_library(Gpstk::gpstk STATIC IMPORTED) if(GNSSTK_OLDER_THAN_8)
add_dependencies(Gpstk::gpstk gpstk-${GNSSSDR_GPSTK_LOCAL_VERSION}) target_compile_definitions(obsdiff PRIVATE -DOLD_GPSTK=1)
set_target_properties(Gpstk::gpstk PROPERTIES endif()
IMPORTED_LINK_INTERFACE_LANGUAGES "CXX" if(GNSSTK_OLDER_THAN_9)
IMPORTED_LOCATION "${GPSTK_LIBRARY}" target_compile_definitions(obsdiff PRIVATE -DGNSSTK_OLDER_THAN_9=1)
INTERFACE_INCLUDE_DIRECTORIES "${GPSTK_INCLUDE_DIR};${GPSTK_INCLUDE_DIR}/gpstk" endif()
INTERFACE_LINK_LIBRARIES "${GPSTK_LIBRARY}" if(NOT TARGET Gnsstk::gnsstk)
) 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() endif()
target_link_libraries(obsdiff target_link_libraries(obsdiff
@ -73,13 +100,9 @@ if("${ARMADILLO_VERSION_STRING}" VERSION_GREATER "9.800" OR (NOT ARMADILLO_FOUND
Threads::Threads Threads::Threads
Gflags::gflags Gflags::gflags
Matio::matio Matio::matio
Gpstk::gpstk Gnsstk::gnsstk
) )
if(GPSTK_OLDER_THAN_8)
target_compile_definitions(obsdiff PUBLIC -DOLD_GPSTK=1)
endif()
if(ENABLE_STRIP) if(ENABLE_STRIP)
set_target_properties(obsdiff PROPERTIES LINK_FLAGS "-s") set_target_properties(obsdiff PROPERTIES LINK_FLAGS "-s")
endif() endif()

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

151
src/utils/rinex-tools/obsdiff.cc
View File

@ -21,34 +21,6 @@
#include "gnuplot_i.h" #include "gnuplot_i.h"
#include "obsdiff_flags.h" #include "obsdiff_flags.h"
#include <armadillo> #include <armadillo>
// Classes for handling observations RINEX files (data)
#include <gpstk/Rinex3ObsData.hpp>
#include <gpstk/Rinex3ObsHeader.hpp>
#include <gpstk/Rinex3ObsStream.hpp>
// Classes for handling satellite navigation parameters RINEX
// files (ephemerides)
#include <gpstk/Rinex3NavData.hpp>
#include <gpstk/Rinex3NavHeader.hpp>
#include <gpstk/Rinex3NavStream.hpp>
// Classes for handling RINEX files with meteorological parameters
#include <gpstk/RinexMetBase.hpp>
#include <gpstk/RinexMetData.hpp>
#include <gpstk/RinexMetHeader.hpp>
#include <gpstk/RinexMetStream.hpp>
// Class for handling tropospheric model
#include <gpstk/GGTropModel.hpp>
// Class for storing >broadcast-type> ephemerides
#include <gpstk/GPSEphemerisStore.hpp>
// Class for handling RAIM
#include <gpstk/PRSolution.hpp>
// Class defining GPS system constants
#include <gpstk/GNSSconstants.hpp>
#include <matio.h> #include <matio.h>
#include <algorithm> #include <algorithm>
#include <array> #include <array>
@ -60,6 +32,53 @@
#include <string> #include <string>
#include <vector> #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>
#include <gnsstk/Rinex3ObsStream.hpp>
// Classes for handling satellite navigation parameters RINEX
// files (ephemerides)
#include <gnsstk/Rinex3NavData.hpp>
#include <gnsstk/Rinex3NavHeader.hpp>
#include <gnsstk/Rinex3NavStream.hpp>
// Classes for handling RINEX files with meteorological parameters
#include <gnsstk/RinexMetBase.hpp>
#include <gnsstk/RinexMetData.hpp>
#include <gnsstk/RinexMetHeader.hpp>
#include <gnsstk/RinexMetStream.hpp>
// Class for handling tropospheric model
#include <gnsstk/GGTropModel.hpp>
// Class for storing >broadcast-type> ephemerides
#include <gnsstk/GPSEphemerisStore.hpp>
// Class for handling RAIM
#include <gnsstk/PRSolution.hpp>
// Class defining GPS system constants
#include <gnsstk/GNSSconstants.hpp>
#endif
#if GFLAGS_OLD_NAMESPACE #if GFLAGS_OLD_NAMESPACE
namespace gflags namespace gflags
{ {
@ -97,40 +116,40 @@ std::map<int, arma::mat> ReadRinexObs(const std::string& rinex_file, char system
// Open and read _baseerence RINEX observables file // Open and read _baseerence RINEX observables file
try try
{ {
gpstk::Rinex3ObsStream r_base(rinex_file); gnsstk::Rinex3ObsStream r_base(rinex_file);
gpstk::Rinex3ObsData r_base_data; gnsstk::Rinex3ObsData r_base_data;
gpstk::Rinex3ObsHeader r_base_header; gnsstk::Rinex3ObsHeader r_base_header;
gpstk::RinexDatum dataobj; gnsstk::RinexDatum dataobj;
r_base >> r_base_header; r_base >> r_base_header;
std::set<int> PRN_set; std::set<int> PRN_set;
gpstk::SatID prn; gnsstk::SatID prn;
switch (system) switch (system)
{ {
case 'G': case 'G':
#if OLD_GPSTK #if OLD_GPSTK
prn.system = gpstk::SatID::systemGPS; prn.system = gnsstk::SatID::systemGPS;
#else #else
prn.system = gpstk::SatelliteSystem::GPS; prn.system = gnsstk::SatelliteSystem::GPS;
#endif #endif
PRN_set = available_gps_prn; PRN_set = available_gps_prn;
break; break;
case 'E': case 'E':
#if OLD_GPSTK #if OLD_GPSTK
prn.system = gpstk::SatID::systemGalileo; prn.system = gnsstk::SatID::systemGalileo;
#else #else
prn.system = gpstk::SatelliteSystem::Galileo; prn.system = gnsstk::SatelliteSystem::Galileo;
#endif #endif
PRN_set = available_galileo_prn; PRN_set = available_galileo_prn;
break; break;
default: default:
#if OLD_GPSTK #if OLD_GPSTK
prn.system = gpstk::SatID::systemGPS; prn.system = gnsstk::SatID::systemGPS;
#else #else
prn.system = gpstk::SatelliteSystem::GPS; prn.system = gnsstk::SatelliteSystem::GPS;
#endif #endif
PRN_set = available_gps_prn; PRN_set = available_gps_prn;
} }
@ -141,8 +160,8 @@ std::map<int, arma::mat> ReadRinexObs(const std::string& rinex_file, char system
for (const auto& prn_it : PRN_set) for (const auto& prn_it : PRN_set)
{ {
prn.id = prn_it; prn.id = prn_it;
gpstk::CommonTime time = r_base_data.time; gnsstk::CommonTime time = r_base_data.time;
double sow(static_cast<gpstk::GPSWeekSecond>(time).sow); double sow(static_cast<gnsstk::GPSWeekSecond>(time).sow);
auto pointer = r_base_data.obs.find(prn); auto pointer = r_base_data.obs.find(prn);
@ -220,12 +239,12 @@ std::map<int, arma::mat> ReadRinexObs(const std::string& rinex_file, char system
} }
} // end while } // end while
} // End of 'try' block } // End of 'try' block
catch (const gpstk::FFStreamError& e) catch (const gnsstk::FFStreamError& e)
{ {
std::cout << e; std::cout << e;
return obs_map; return obs_map;
} }
catch (const gpstk::Exception& e) catch (const gnsstk::Exception& e)
{ {
std::cout << e; std::cout << e;
return obs_map; return obs_map;
@ -906,7 +925,7 @@ void coderate_phaserate_consistence(
arma::vec prange = measured_ch0.col(1); arma::vec prange = measured_ch0.col(1);
// todo: This code is only valid for L1/E1 carrier frequency. // todo: This code is only valid for L1/E1 carrier frequency.
arma::vec phase = measured_ch0.col(3) * (gpstk::C_MPS / gpstk::L1_FREQ_GPS); arma::vec phase = measured_ch0.col(3) * (gnsstk::C_MPS / gnsstk::L1_FREQ_GPS);
double mincodeval = 5000000.0; double mincodeval = 5000000.0;
double maxcodeval = 40000000.0; double maxcodeval = 40000000.0;
@ -1051,7 +1070,7 @@ void code_phase_diff(
arma::interp1(measured_ch1.col(0), measured_ch1.col(3), measurement_time, carrier_phase_ch1_obs_interp); arma::interp1(measured_ch1.col(0), measured_ch1.col(3), measurement_time, carrier_phase_ch1_obs_interp);
// generate Code - Phase vector // generate Code - Phase vector
arma::vec code_minus_phase = (measured_ch0.col(1) - code_range_ch1_obs_interp) - (measured_ch0.col(3) - carrier_phase_ch1_obs_interp) * (gpstk::C_MPS / gpstk::L1_FREQ_GPS); arma::vec code_minus_phase = (measured_ch0.col(1) - code_range_ch1_obs_interp) - (measured_ch0.col(3) - carrier_phase_ch1_obs_interp) * (gnsstk::C_MPS / gnsstk::L1_FREQ_GPS);
// remove NaN // remove NaN
arma::uvec NaN_in_measured_data = arma::find_nonfinite(code_minus_phase); arma::uvec NaN_in_measured_data = arma::find_nonfinite(code_minus_phase);
@ -1135,28 +1154,28 @@ double compute_rx_clock_error(const std::string& rinex_nav_filename, const std::
return 0.0; return 0.0;
} }
// Declaration of objects for storing ephemerides and handling RAIM // Declaration of objects for storing ephemerides and handling RAIM
gpstk::GPSEphemerisStore bcestore; gnsstk::GPSEphemerisStore bcestore;
gpstk::PRSolution raimSolver; gnsstk::PRSolution raimSolver;
// Object for void-type tropospheric model (in case no meteorological // Object for void-type tropospheric model (in case no meteorological
// RINEX is available) // RINEX is available)
gpstk::ZeroTropModel noTropModel; gnsstk::ZeroTropModel noTropModel;
// Object for GG-type tropospheric model (Goad and Goodman, 1974) // Object for GG-type tropospheric model (Goad and Goodman, 1974)
// Default constructor => default values for model // Default constructor => default values for model
gpstk::GGTropModel ggTropModel; gnsstk::GGTropModel ggTropModel;
// Pointer to one of the two available tropospheric models. It points // Pointer to one of the two available tropospheric models. It points
// to the void model by default // to the void model by default
gpstk::TropModel* tropModelPtr = &noTropModel; gnsstk::TropModel* tropModelPtr = &noTropModel;
double rx_clock_error_s = 0.0; double rx_clock_error_s = 0.0;
try try
{ {
// Read nav file and store unique list of ephemerides // Read nav file and store unique list of ephemerides
gpstk::Rinex3NavStream rnffs(rinex_nav_filename.c_str()); // Open ephemerides data file gnsstk::Rinex3NavStream rnffs(rinex_nav_filename.c_str()); // Open ephemerides data file
gpstk::Rinex3NavData rne; gnsstk::Rinex3NavData rne;
gpstk::Rinex3NavHeader hdr; gnsstk::Rinex3NavHeader hdr;
// Let's read the header (may be skipped) // Let's read the header (may be skipped)
rnffs >> hdr; rnffs >> hdr;
@ -1172,10 +1191,10 @@ double compute_rx_clock_error(const std::string& rinex_nav_filename, const std::
// Open and read the observation file one epoch at a time. // Open and read the observation file one epoch at a time.
// For each epoch, compute and print a position solution // For each epoch, compute and print a position solution
gpstk::Rinex3ObsStream roffs(rinex_obs_file.c_str()); // Open observations data file gnsstk::Rinex3ObsStream roffs(rinex_obs_file.c_str()); // Open observations data file
gpstk::Rinex3ObsHeader roh; gnsstk::Rinex3ObsHeader roh;
gpstk::Rinex3ObsData rod; gnsstk::Rinex3ObsData rod;
// Let's read the header // Let's read the header
roffs >> roh; roffs >> roh;
@ -1197,14 +1216,14 @@ double compute_rx_clock_error(const std::string& rinex_nav_filename, const std::
// Apply editing criteria // Apply editing criteria
if (rod.epochFlag == 0 || rod.epochFlag == 1) // Begin usable data if (rod.epochFlag == 0 || rod.epochFlag == 1) // Begin usable data
{ {
std::vector<gpstk::SatID> prnVec; std::vector<gnsstk::SatID> prnVec;
std::vector<double> rangeVec; std::vector<double> rangeVec;
// Define the "it" iterator to visit the observations PRN map. // Define the "it" iterator to visit the observations PRN map.
// Rinex3ObsData::DataMap is a map from RinexSatID to // Rinex3ObsData::DataMap is a map from RinexSatID to
// vector<RinexDatum>: // vector<RinexDatum>:
// std::map<RinexSatID, vector<RinexDatum> > // std::map<RinexSatID, vector<RinexDatum> >
gpstk::Rinex3ObsData::DataMap::const_iterator it; gnsstk::Rinex3ObsData::DataMap::const_iterator it;
// This part gets the PRN numbers and ionosphere-corrected // This part gets the PRN numbers and ionosphere-corrected
// pseudoranges for the current epoch. They are correspondly fed // pseudoranges for the current epoch. They are correspondly fed
@ -1254,7 +1273,7 @@ double compute_rx_clock_error(const std::string& rinex_nav_filename, const std::
#if OLD_GPSTK #if OLD_GPSTK
std::vector<gpstk::SatID::SatelliteSystem> Syss; std::vector<gpstk::SatID::SatelliteSystem> Syss;
#endif #endif
gpstk::Matrix<double> invMC; gnsstk::Matrix<double> invMC;
int iret; int iret;
// Call RAIMCompute // Call RAIMCompute
#if OLD_GPSTK #if OLD_GPSTK
@ -1294,7 +1313,7 @@ double compute_rx_clock_error(const std::string& rinex_nav_filename, const std::
} }
// return iret; // return iret;
} }
catch (const gpstk::Exception& e) catch (const gnsstk::Exception& e)
{ {
} }
@ -1307,14 +1326,14 @@ double compute_rx_clock_error(const std::string& rinex_nav_filename, const std::
<< std::setw(12) << raimSolver.Solution(2) << "\n"; << std::setw(12) << raimSolver.Solution(2) << "\n";
std::cout << "RX CLK " << std::fixed << std::setprecision(16) std::cout << "RX CLK " << std::fixed << std::setprecision(16)
<< raimSolver.Solution(3) / gpstk::C_MPS << " [s] \n"; << raimSolver.Solution(3) / gnsstk::C_MPS << " [s] \n";
std::cout << "NSATS, DOPs " << std::setw(2) << raimSolver.Nsvs << std::fixed std::cout << "NSATS, DOPs " << std::setw(2) << raimSolver.Nsvs << std::fixed
<< std::setprecision(2) << " " << std::setprecision(2) << " "
<< std::setw(4) << raimSolver.PDOP << " " << std::setw(4) << raimSolver.GDOP << std::setw(4) << raimSolver.PDOP << " " << std::setw(4) << raimSolver.GDOP
<< " " << std::setw(8) << raimSolver.RMSResidual << "\n"; << " " << std::setw(8) << raimSolver.RMSResidual << "\n";
gpstk::Position rx_pos; gnsstk::Position rx_pos;
rx_pos.setECEF(gpstk::Triple(raimSolver.Solution(0), raimSolver.Solution(1), raimSolver.Solution(2))); rx_pos.setECEF(gnsstk::Triple(raimSolver.Solution(0), raimSolver.Solution(1), raimSolver.Solution(2)));
double lat_deg = rx_pos.geodeticLatitude(); double lat_deg = rx_pos.geodeticLatitude();
double lon_deg = rx_pos.longitude(); double lon_deg = rx_pos.longitude();
@ -1325,17 +1344,17 @@ double compute_rx_clock_error(const std::string& rinex_nav_filename, const std::
<< std::setw(12) << Alt_m << " [deg],[deg],[m]\n"; << std::setw(12) << Alt_m << " [deg],[deg],[m]\n";
// set computed RX clock error and stop iterating obs epochs // set computed RX clock error and stop iterating obs epochs
rx_clock_error_s = raimSolver.Solution(3) / gpstk::C_MPS; rx_clock_error_s = raimSolver.Solution(3) / gnsstk::C_MPS;
break; break;
} // End of 'if( raimSolver.isValid() )' } // End of 'if( raimSolver.isValid() )'
} // End of 'if( rod.epochFlag == 0 || rod.epochFlag == 1 )' } // End of 'if( rod.epochFlag == 0 || rod.epochFlag == 1 )'
} // End of 'while( roffs >> rod )' } // End of 'while( roffs >> rod )'
} }
catch (const gpstk::FFStreamError& e) catch (const gnsstk::FFStreamError& e)
{ {
std::cout << "GPSTK exception: " << e << '\n'; std::cout << "GPSTK exception: " << e << '\n';
} }
catch (const gpstk::Exception& e) catch (const gnsstk::Exception& e)
{ {
std::cout << "GPSTK exception: " << e << '\n'; std::cout << "GPSTK exception: " << e << '\n';
} }

51
src/utils/rinex2assist/CMakeLists.txt
View File

@ -4,14 +4,20 @@
# SPDX-FileCopyrightText: 2010-2020 C. Fernandez-Prades cfernandez(at)cttc.es # SPDX-FileCopyrightText: 2010-2020 C. Fernandez-Prades cfernandez(at)cttc.es
# SPDX-License-Identifier: BSD-3-Clause # SPDX-License-Identifier: BSD-3-Clause
if(NOT GNSSTK_FOUND)
find_package(GPSTK QUIET) find_package(GNSSTK)
if(NOT GPSTK_FOUND OR ENABLE_OWN_GPSTK)
include(GNUInstallDirs)
set(GPSTK_LIBRARY ${CMAKE_BINARY_DIR}/gpstk-${GNSSSDR_GPSTK_LOCAL_VERSION}/install/${CMAKE_INSTALL_LIBDIR}/${CMAKE_FIND_LIBRARY_PREFIXES}gpstk${CMAKE_STATIC_LIBRARY_SUFFIX})
set(GPSTK_INCLUDE_DIR ${CMAKE_BINARY_DIR}/gpstk-${GNSSSDR_GPSTK_LOCAL_VERSION}/install/include)
endif() endif()
if(NOT GNSSTK_FOUND OR ENABLE_OWN_GNSSTK)
include(GNUInstallDirs)
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()
find_package(Boost COMPONENTS iostreams serialization QUIET) find_package(Boost COMPONENTS iostreams serialization QUIET)
if(CMAKE_VERSION VERSION_LESS 3.5) if(CMAKE_VERSION VERSION_LESS 3.5)
@ -35,7 +41,6 @@ if(CMAKE_VERSION VERSION_LESS 3.5)
endif() endif()
endif() endif()
find_program(UNCOMPRESS_EXECUTABLE uncompress find_program(UNCOMPRESS_EXECUTABLE uncompress
PATHS /bin PATHS /bin
/usr/bin /usr/bin
@ -65,7 +70,7 @@ if(Boost_FOUND)
if(CMAKE_CXX_COMPILER_ID MATCHES "Clang") if(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
target_compile_options(rinex2assist target_compile_options(rinex2assist
PRIVATE PRIVATE
-Wno-deprecated -Wno-unused-parameter -Wno-sign-compare -Wno-deprecated -Wno-unused-parameter -Wno-sign-compare -Wno-switch -Wno-inconsistent-missing-override
) )
endif() endif()
@ -73,17 +78,31 @@ if(Boost_FOUND)
PRIVATE PRIVATE
Boost::iostreams Boost::iostreams
Boost::serialization Boost::serialization
${GPSTK_LIBRARY} ${GNSSTK_LIBRARY}
Gflags::gflags Gflags::gflags
Threads::Threads Threads::Threads
core_system_parameters core_system_parameters
) )
target_include_directories(rinex2assist if(GNSSTK_USES_GPSTK_NAMESPACE)
PRIVATE target_compile_definitions(rinex2assist PUBLIC -DGNSSTK_USES_GPSTK_NAMESPACE=1)
${GPSTK_INCLUDE_DIR}/gpstk target_include_directories(rinex2assist
${GPSTK_INCLUDE_DIR} PRIVATE
) ${GNSSTK_INCLUDE_DIR}/gpstk
${GNSSTK_INCLUDE_DIR}
)
else()
target_include_directories(rinex2assist
PRIVATE
${GNSSTK_INCLUDE_DIR}/gnsstk
${GNSSTK_INCLUDE_DIR}
)
endif()
if(GNSSTK_VERSION)
if(GNSSTK_VERSION VERSION_LESS "9.0.0")
target_compile_definitions(rinex2assist PRIVATE -DGNSSTK_OLDER_THAN_9=1)
endif()
endif()
if(NOT UNCOMPRESS_EXECUTABLE-NOTFOUND) if(NOT UNCOMPRESS_EXECUTABLE-NOTFOUND)
target_compile_definitions(rinex2assist PRIVATE -DUNCOMPRESS_EXECUTABLE="${UNCOMPRESS_EXECUTABLE}") target_compile_definitions(rinex2assist PRIVATE -DUNCOMPRESS_EXECUTABLE="${UNCOMPRESS_EXECUTABLE}")
@ -91,8 +110,8 @@ if(Boost_FOUND)
target_compile_definitions(rinex2assist PRIVATE -DUNCOMPRESS_EXECUTABLE="") target_compile_definitions(rinex2assist PRIVATE -DUNCOMPRESS_EXECUTABLE="")
endif() endif()
if(NOT GPSTK_FOUND OR ENABLE_OWN_GPSTK) if(NOT GNSSTK_FOUND OR ENABLE_OWN_GNSSTK)
add_dependencies(rinex2assist gpstk-${GNSSSDR_GPSTK_LOCAL_VERSION}) add_dependencies(rinex2assist gnsstk-${GNSSSDR_GNSSTK_LOCAL_VERSION})
endif() endif()
if(ENABLE_STRIP) if(ENABLE_STRIP)

41
src/utils/rinex2assist/main.cc
View File

@ -28,12 +28,23 @@
#include <boost/iostreams/filtering_streambuf.hpp> #include <boost/iostreams/filtering_streambuf.hpp>
#include <boost/serialization/map.hpp> #include <boost/serialization/map.hpp>
#include <gflags/gflags.h> #include <gflags/gflags.h>
#include <gpstk/Rinex3NavData.hpp>
#include <gpstk/Rinex3NavHeader.hpp>
#include <gpstk/Rinex3NavStream.hpp>
#include <cstddef> // for size_t #include <cstddef> // for size_t
#include <cstdlib> #include <cstdlib>
#include <iostream> #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>
#endif
#if GFLAGS_OLD_NAMESPACE #if GFLAGS_OLD_NAMESPACE
namespace gflags namespace gflags
@ -155,9 +166,9 @@ int main(int argc, char** argv)
try try
{ {
// Read nav file // Read nav file
gpstk::Rinex3NavStream rnffs(input_filename.c_str()); // Open navigation data file gnsstk::Rinex3NavStream rnffs(input_filename.c_str()); // Open navigation data file
gpstk::Rinex3NavData rne; gnsstk::Rinex3NavData rne;
gpstk::Rinex3NavHeader hdr; gnsstk::Rinex3NavHeader hdr;
// Read header // Read header
rnffs >> hdr; rnffs >> hdr;
@ -176,8 +187,17 @@ int main(int argc, char** argv)
gps_utc_model.valid = (hdr.valid > 2147483648) ? true : false; gps_utc_model.valid = (hdr.valid > 2147483648) ? true : false;
gps_utc_model.A1 = hdr.mapTimeCorr["GPUT"].A0; gps_utc_model.A1 = hdr.mapTimeCorr["GPUT"].A0;
gps_utc_model.A0 = hdr.mapTimeCorr["GPUT"].A1; gps_utc_model.A0 = hdr.mapTimeCorr["GPUT"].A1;
#if GNSSTK_OLDER_THAN_9
gps_utc_model.tot = hdr.mapTimeCorr["GPUT"].refSOW; gps_utc_model.tot = hdr.mapTimeCorr["GPUT"].refSOW;
gps_utc_model.WN_T = hdr.mapTimeCorr["GPUT"].refWeek; 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.DeltaT_LS = hdr.leapSeconds;
gps_utc_model.WN_LSF = hdr.leapWeek; gps_utc_model.WN_LSF = hdr.leapWeek;
gps_utc_model.DN = hdr.leapDay; gps_utc_model.DN = hdr.leapDay;
@ -199,8 +219,17 @@ int main(int argc, char** argv)
gal_utc_model.A0 = hdr.mapTimeCorr["GAUT"].A0; gal_utc_model.A0 = hdr.mapTimeCorr["GAUT"].A0;
gal_utc_model.A1 = hdr.mapTimeCorr["GAUT"].A1; gal_utc_model.A1 = hdr.mapTimeCorr["GAUT"].A1;
gal_utc_model.Delta_tLS = hdr.leapSeconds; gal_utc_model.Delta_tLS = hdr.leapSeconds;
#if GNSSTK_OLDER_THAN_9
gal_utc_model.tot = hdr.mapTimeCorr["GAUT"].refSOW; gal_utc_model.tot = hdr.mapTimeCorr["GAUT"].refSOW;
gal_utc_model.WNot = hdr.mapTimeCorr["GAUT"].refWeek; 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.WN_LSF = hdr.leapWeek;
gal_utc_model.DN = hdr.leapDay; gal_utc_model.DN = hdr.leapDay;
gal_utc_model.Delta_tLSF = hdr.leapDelta; gal_utc_model.Delta_tLSF = hdr.leapDelta;