add plover build functionality, check_qr test

include/libswiftnav/plover/prelude.h

@@ -0,0 +1,56 @@
+#ifndef PLOVER_GENERATED_prelude
+#define PLOVER_GENERATED_prelude
+
+
+#include <assert.h>
+
+#include <stdint.h>
+#include <stdbool.h>
+#include <inttypes.h>
+#ifndef COMMON_INT_TYPES
+#define COMMON_INT_TYPES
+/** \defgroup common_inttypes Integer types
+ * Specified-width integer type definitions for shorter and nicer code.
+ *
+ * These should be used in preference to unspecified width types such as
+ * `int` which can lead to portability issues between different platforms.
+ * \{ */
+
+/** Signed 8-bit integer. */
+typedef int8_t s8;
+/** Signed 16-bit integer. */
+typedef int16_t s16;
+/** Signed 32-bit integer. */
+typedef int32_t s32;
+/** Signed 64-bit integer. */
+typedef int64_t s64;
+/** Unsigned 8-bit integer. */
+typedef uint8_t u8;
+/** Unsigned 16-bit integer. */
+typedef uint16_t u16;
+/** Unsigned 32-bit integer. */
+typedef uint32_t u32;
+/** Unsigned 64-bit integer. */
+typedef uint64_t u64;
+
+#endif
+
+/** \} */
+
+#include <float.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <math.h>
+int ipow(int base, int exp);
+double dipow(double base, int exp);
+double rand_uniform(void);
+double rand_normal (void);
+double norm (const s32 n, const double * v);
+void normalize (const s32 n, const double * v, double * result);
+void print_vec (const s32 n, const double * v);
+void print_mat (const s32 n, const s32 m, const double * A);
+s32 matrix_inv (const s32 n, const double * A, double * B);
+double det (const s32 n, const double * A);
+
+
+#endif /* PLOVER_GENERATED_prelude */

include/libswiftnav/plover/qr.h

@@ -0,0 +1,10 @@
+#ifndef PLOVER_GENERATED_qr
+#define PLOVER_GENERATED_qr
+
+#include "libswiftnav/plover/prelude.h"
+
+s8 qr_solve (const s32 m, const s32 n, double * A, double * b, double * solution, double * const residual);
+void qr_update (const s32 m, const s32 n, double * b, double * A);
+
+
+#endif /* PLOVER_GENERATED_qr */

plover/CMakeLists.txt

@@ -8,47 +8,76 @@ set (PLOVER_GENERATED_H_DIR ${CMAKE_SOURCE_DIR}/include/libswiftnav/plover CACHE
 file(MAKE_DIRECTORY ${PLOVER_GENERATED_H_DIR})
 
 # Find default cabal
-find_program(CMAKE_cabal NAMES cabal)
+find_program(CMAKE_CABAL NAMES cabal)
+# Find plover executable
+find_program(CMAKE_PLOVER NAMES plover)
 
 if (DEFINED ENV{CABAL})
-  message("Saw cabal flag: $ENV{CABAL}")
-  set (CMAKE_cabal $ENV{CABAL})
+  message("Saw CABAL flag: $ENV{CABAL}")
+  set (CMAKE_CABAL $ENV{CABAL})
 else ()
-  message("Environment variable 'CABAL' not set. Defaulting to ${CMAKE_cabal}.")
+  message("Environment variable 'CABAL' not set. Defaulting to ${CMAKE_CABAL}.")
+endif ()
+if (DEFINED ENV{PLOVER})
+  message("Saw PLOVER flag. Using $ENV{PLOVER}")
+  set (CMAKE_PLOVER $ENV{PLOVER})
+else ()
+  message("Environment variable 'PLOVER' not set. Defaulting to ${CMAKE_PLOVER}.")
 endif ()
 
-set (plover_HS_SRCS
-  Main.hs
-  AmbiguityTest.hs
+# Haskell files with macro plover definitions
+# TODO implement build step
+set (PLOVER_HS_SRCS
 )
 
-set (plover_SRCS
-  ${PLOVER_GENERATED_C_DIR}/ambiguity_test.c
-  CACHE INTERNAL ""
+# For each unit in PLOVER_UNITS:
+#   Expects ${unit}.plv in PLOVER_DIR
+#   Generates ${unit}.c in PLOVER_GENERATED_C_DIR
+#         and ${unit}.h in PLOVER_GENERATED_H_DIR
+set (PLOVER_UNITS
+  prelude
+  qr
 )
 
-set (plover_HDRS
-  ${PLOVER_GENERATED_H_DIR}/ambiguity_test.h
-  CACHE INTERNAL ""
-)
+foreach(unit ${PLOVER_UNITS})
+  list(APPEND PLOVER_CFILES "${PLOVER_GENERATED_C_DIR}/${unit}.c")
+  list(APPEND PLOVER_HFILES "${PLOVER_GENERATED_H_DIR}/${unit}.h")
+  list(APPEND PLOVER_SRC    "${PLOVER_DIR}/${unit}.plv")
+endforeach(unit)
+
+# Make available to src/ CMakeLists
+set(PLOVER_CFILES ${PLOVER_CFILES} PARENT_SCOPE)
+set(PLOVER_HFILES ${PLOVER_HFILES} PARENT_SCOPE)
+
+# Main project depends on generate. generate depends on generated files.
+add_custom_target(generate DEPENDS ${PLOVER_CFILES} ${PLOVER_HFILES})
+
+if (CMAKE_CABAL AND CMAKE_PLOVER)
+  message("\nFound Plover tools.")
+  # Don't add step if no UNITS are specified
+  if (PLOVER_CFILES OR PLOVER_HFILES)
+    message("Adding code generation steps, one for each plv unit.\n\
+Will run if plover subproject is modified and after make clean or clean-generate.")
+    foreach(unit ${PLOVER_UNITS})
+      add_custom_command(
+        OUTPUT "${PLOVER_GENERATED_C_DIR}/${unit}.c" "${PLOVER_GENERATED_H_DIR}/${unit}.h"
+        COMMAND ${CMAKE_PLOVER}
+          -I "${PLOVER_DIR}"
+          --cdir "${PLOVER_GENERATED_C_DIR}" --hdir "${PLOVER_GENERATED_H_DIR}"
+          --libprefix "libswiftnav/plover"
+          "${PLOVER_DIR}/${unit}.plv"
+        WORKING_DIRECTORY ${PLOVER_DIR}
+        DEPENDS "${PLOVER_DIR}/${unit}.plv")
+    endforeach(unit)
+  endif ()
+  message("")
 
-if (CMAKE_cabal)
-  message("\nFound Haskell tools. Adding code generation step (to be run if Haskell subproject is modified).\n")
-  add_custom_command(
-    OUTPUT ${plover_SRCS} ${plover_HDRS}
-    COMMAND ${CMAKE_cabal} run "${PLOVER_GENERATED_C_DIR}" "${PLOVER_GENERATED_H_DIR}"
-    WORKING_DIRECTORY ${PLOVER_DIR}
-    DEPENDS ${plover_HS_SRCS})
 else ()
-  message("\nNo Haskell toolchain (cabal) found. Code generation with Plover is disabled.\n")
+  message("\nNo Plover toolchain found. Code generation is disabled.\n")
 endif ()
 
-add_custom_target(clean_generate
+add_custom_target(clean-generate
   COMMAND ${CMAKE_COMMAND} -E remove_directory ${PLOVER_DIR}/dist
   COMMAND ${CMAKE_COMMAND} -E remove ${PLOVER_GENERATED_C_DIR}/*
   COMMAND ${CMAKE_COMMAND} -E remove ${PLOVER_GENERATED_H_DIR}/*
 )
-
-# Main project depends on generated code
-add_custom_target(generate DEPENDS ${plover_SRCS} ${plover_HDRS})
-

plover/README

@@ -1 +1,3 @@
 requires installation of https://github.com/swift-nav/plover for code generation
+
+new plover files should be added to the local CMakeLists.txt file. see `PLOVER_UNITS`