#include <stdio.h>
#include "sys/stat.h"
#include "rtklib.h"
#include "nav.h"

//#define WIN
#ifdef WIN
const char * option_path = "D:\\TightlyCouple_Zjut\\WorkSpace\\TC_NAV_Zjut\\config\\option.conf";
const char * log_path = "C:\\Users\\56509\\iCloudDrive\\GNSS文献\\LG69T\\20220419 06-44 IMU\\log\\rover419.log";
const char * obs_outpath = "C:\\Users\\56509\\Desktop\\test.obs";
const char * nav_outpath = "C:\\Users\\56509\\Desktop\\test.nav";

const char * imu_path = "C:\\Users\\56509\\iCloudDrive\\GNSS文献\\LG69T\\20220519\\519(1)\\IMU.csv";
const char * pvt_path = "C:\\Users\\56509\\iCloudDrive\\GNSS文献\\LG69T\\20220519\\519(1)\\PVT.csv";
const char * sat_path = "C:\\Users\\56509\\iCloudDrive\\GNSS文献\\LG69T\\20220519\\519(1)\\Sat.csv";
#else
const char * option_path = "../config/option.conf";
const char * log_path = "/Users/wakanda_shaw/Library/Mobile Documents/com~apple~CloudDocs/GNSS文献/LG69T/20220519/519(1)/log/rover419.log";
const char * obs_outpath = "/Users/wakanda_shaw/Desktop/test.obs";
const char * nav_outpath = "/Users/wakanda_shaw/Desktop/test.nav";

const char * imu_path = "/Users/wakanda_shaw/Library/Mobile Documents/com~apple~CloudDocs/GNSS文献/LG69T/20220601/61_1/IMU.csv";
const char * pvt_path = "/Users/wakanda_shaw/Library/Mobile Documents/com~apple~CloudDocs/GNSS文献/LG69T/20220601/61_1/PVT.csv";
const char * sat_path = "/Users/wakanda_shaw/Library/Mobile Documents/com~apple~CloudDocs/GNSS文献/LG69T/20220601/61_1/Sat.csv";
#endif



int main(int argc, char **argv) {
    prcopt_t opt = prcopt_default;
    resetsysopts();
    if(!loadopts(option_path,sysopts)){
        fprintf(stderr,"no options file: %s. defaults used\n",option_path);
    }
    getsysopts(&opt,NULL,NULL);
    opt.navsys = SYS_GPS|SYS_CMP|SYS_GAL|SYS_QZS;
    opt.ionoopt = IONOOPT_IFLC;
    int mode = PT_MODE;


    if(mode==RT_MODE){
        if(!tcpos(&opt, log_path, obs_outpath, nav_outpath)){
            trace(2,"real time tightly coupled fail\n");
            return 0;
        }
    }
    else if(mode==PT_MODE){
        if(!ps_tcpos(&opt, imu_path, pvt_path, sat_path)){
            trace(2,"post tightly coupled fail\n");
            return 0;
        }
    }

    return 0;
}