Add functions for applying iono and tropo corrections (#40)

Author: jbangelo

build.rs

@@ -37,6 +37,10 @@ fn main() {
             "{}/include/swiftnav/single_epoch_solver.h",
             dst.display()
         ))
+        .header(format!(
+            "{}/include/swiftnav/correct_iono_tropo.h",
+            dst.display()
+        ))
         // Tell cargo to invalidate the built crate whenever any of the
         // included header files changed.
         .parse_callbacks(Box::new(bindgen::CargoCallbacks))
@@ -107,6 +111,8 @@ fn main() {
         .whitelist_function("sid_set_contains")
         .whitelist_function("calc_PVT")
         .whitelist_var("pvt_err_msg")
+        .whitelist_function("correct_iono")
+        .whitelist_function("correct_tropo")
         // Finish the builder and generate the bindings.
         .generate()
         // Unwrap the Result and panic on failure.

src/coords.rs

@@ -242,6 +242,10 @@ impl ECEF {
         &mut self.0
     }
 
+    pub fn as_single_ptr(&self) -> *const f64 {
+        &self.0[0]
+    }
+
     pub fn as_array_ref(&self) -> &[f64; 3] {
         &self.0
     }

src/ionosphere.rs

@@ -9,12 +9,17 @@
 //!  * IS-GPS-200H, Section 20.3.3.5.2.5 and Figure 20-4
 
 use crate::{c_bindings, time::GpsTime};
+use crate::{coords::ECEF, navmeas::NavigationMeasurement};
 
 /// Represents an ionosphere model
 #[derive(Debug, Clone, PartialOrd, PartialEq)]
 pub struct Ionosphere(c_bindings::ionosphere_t);
 
 impl Ionosphere {
+    fn as_ptr(&self) -> *const c_bindings::ionosphere_t {
+        &self.0
+    }
+
     /// Construct an ionosphere model from already decoded parameters
     pub fn new(
         toa: GpsTime,
@@ -84,6 +89,19 @@ impl Ionosphere {
     pub fn calc_delay(&self, t: &GpsTime, lat_u: f64, lon_u: f64, a: f64, e: f64) -> f64 {
         unsafe { c_bindings::calc_ionosphere(t.c_ptr(), lat_u, lon_u, a, e, &self.0) }
     }
+
+    /// Apply ionosphere corrections to a set of measurements
+    pub fn correct_measurements(&self, pos: ECEF, measurements: &mut [NavigationMeasurement]) {
+        assert!(measurements.len() <= std::u8::MAX as usize);
+        unsafe {
+            c_bindings::correct_iono(
+                pos.as_single_ptr(),
+                self.as_ptr(),
+                measurements.len() as u8,
+                measurements.as_mut_ptr() as *mut c_bindings::navigation_measurement_t,
+            );
+        }
+    }
 }
 
 #[cfg(test)]

src/troposphere.rs

@@ -7,7 +7,7 @@
 //! References:
 //!   * UNB Neutral Atmosphere Models: Development and Performance. R Leandro,
 //!      M Santos, and R B Langley
-use crate::{c_bindings, time::GpsTime};
+use crate::{c_bindings, coords::ECEF, navmeas::NavigationMeasurement, time::GpsTime};
 
 ///  Calculate tropospheric delay using UNM3m model.
 ///
@@ -17,6 +17,18 @@ pub fn calc_delay(t: &GpsTime, lat: f64, h: f64, el: f64) -> f64 {
     unsafe { c_bindings::calc_troposphere(t.c_ptr(), lat, h, el) }
 }
 
+/// Apply troposphere corrections to a set of measurements
+pub fn correct_measurements(pos: ECEF, measurements: &mut [NavigationMeasurement]) {
+    assert!(measurements.len() <= std::u8::MAX as usize);
+    unsafe {
+        c_bindings::correct_tropo(
+            pos.as_single_ptr(),
+            measurements.len() as u8,
+            measurements.as_mut_ptr() as *mut c_bindings::navigation_measurement_t,
+        );
+    }
+}
+
 #[cfg(test)]
 mod tests {
     use crate::{