Add Navigation measurement and PVT solver (#30)

Author: jbangelo

build.rs

@@ -27,6 +27,11 @@ fn main() {
         .header(format!("{}/include/swiftnav/troposphere.h", dst.display()))
         .header(format!("{}/include/swiftnav/ephemeris.h", dst.display()))
         .header(format!("{}/include/swiftnav/edc.h", dst.display()))
+        .header(format!("{}/include/swiftnav/nav_meas.h", dst.display()))
+        .header(format!(
+            "{}/include/swiftnav/single_epoch_solver.h",
+            dst.display()
+        ))
         // Tell cargo to invalidate the built crate whenever any of the
         // included header files changed.
         .parse_callbacks(Box::new(bindgen::CargoCallbacks))
@@ -83,6 +88,20 @@ fn main() {
         .whitelist_function("decode_bds_d1_ephemeris")
         .whitelist_function("decode_gal_ephemeris")
         .whitelist_function("crc24q")
+        .whitelist_type("measurement_std_t")
+        .whitelist_function("nav_meas_flags_valid")
+        .whitelist_function("pseudorange_valid")
+        .whitelist_function("encode_lock_time")
+        .whitelist_function("decode_lock_time")
+        .whitelist_var("NAV_MEAS_FLAG_CODE_VALID")
+        .whitelist_var("NAV_MEAS_FLAG_MEAS_DOPPLER_VALID")
+        .whitelist_var("NAV_MEAS_FLAG_CN0_VALID")
+        .whitelist_function("sid_set_init")
+        .whitelist_function("sid_set_get_sat_count")
+        .whitelist_function("sid_set_get_sig_count")
+        .whitelist_function("sid_set_contains")
+        .whitelist_function("calc_PVT")
+        .whitelist_var("pvt_err_msg")
         // Finish the builder and generate the bindings.
         .generate()
         // Unwrap the Result and panic on failure.

src/coords.rs

@@ -305,6 +305,68 @@ impl AsMut<[f64; 3]> for ECEF {
     }
 }
 
+/// Local North East Down reference frame coordinates
+///
+/// Internally stored as an array of 3 [f64](std::f64) values: N, E, D all in meters
+#[derive(Copy, Clone, Debug, PartialEq, PartialOrd)]
+pub struct NED([f64; 3]);
+
+impl NED {
+    pub fn new(n: f64, e: f64, d: f64) -> NED {
+        NED([n, e, d])
+    }
+
+    pub fn from_array(array: &[f64; 3]) -> NED {
+        NED(*array)
+    }
+
+    pub fn as_ptr(&self) -> *const [f64; 3] {
+        &self.0
+    }
+
+    pub fn as_mut_ptr(&mut self) -> *mut [f64; 3] {
+        &mut self.0
+    }
+
+    pub fn as_array_ref(&self) -> &[f64; 3] {
+        &self.0
+    }
+
+    pub fn as_mut_array_ref(&mut self) -> &mut [f64; 3] {
+        &mut self.0
+    }
+
+    pub fn n(&self) -> f64 {
+        self.0[0]
+    }
+
+    pub fn e(&self) -> f64 {
+        self.0[1]
+    }
+
+    pub fn d(&self) -> f64 {
+        self.0[2]
+    }
+}
+
+impl Default for NED {
+    fn default() -> Self {
+        Self::new(0., 0., 0.)
+    }
+}
+
+impl AsRef<[f64; 3]> for NED {
+    fn as_ref(&self) -> &[f64; 3] {
+        &self.0
+    }
+}
+
+impl AsMut<[f64; 3]> for NED {
+    fn as_mut(&mut self) -> &mut [f64; 3] {
+        &mut self.0
+    }
+}
+
 #[derive(Copy, Clone, Debug, PartialEq, PartialOrd)]
 pub struct AzimuthElevation {
     pub az: f64,

src/lib.rs

@@ -19,6 +19,8 @@ pub mod coords;
 pub mod edc;
 pub mod ephemeris;
 pub mod ionosphere;
+pub mod navmeas;
 pub mod signal;
+pub mod solver;
 pub mod time;
 pub mod troposphere;