(WIP/WorkingCopy) Documentation updates.

c/CMakeLists.txt

@@ -53,4 +53,5 @@ set(CMAKE_MODULE_PATH "${CMAKE_SOURCE_DIR}/cmake")
 set(CMAKE_C_FLAGS "-Wall -Wextra -Wno-strict-prototypes -Wno-unknown-warning-option -Werror -std=gnu99 ${CMAKE_C_FLAGS}")
 
 add_subdirectory(src)
+add_subdirectory(docs)
 add_subdirectory(test)

c/docs/CMakeLists.txt

@@ -0,0 +1,32 @@
+#option(BUILD_DOCUMENTATION "Use Doxygen to create API documentation" ON)
+set(BUILD_DOCUMENTATION ON)
+
+find_package(Doxygen)
+if (NOT DOXYGEN_FOUND)
+  set(BUILD_DOCUMENTATION OFF)
+  message(WARNING
+    "Doxygen not found, the documentation will not be built."
+  )
+endif (NOT DOXYGEN_FOUND)
+
+if (BUILD_DOCUMENTATION)
+
+  add_subdirectory(diagrams)
+
+  configure_file(Doxyfile.in
+    ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile
+    @ONLY
+  )
+
+  add_custom_target(docs
+    ${DOXYGEN_EXECUTABLE} ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile
+    COMMENT "Building Doxygen documentation"
+    DEPENDS diagrams Doxyfile.in
+  )
+
+  set_property(DIRECTORY APPEND PROPERTY ADDITIONAL_MAKE_CLEAN_FILES
+		${CMAKE_CURRENT_BINARY_DIR}/html
+  )
+
+endif (BUILD_DOCUMENTATION)
+

c/docs/install.dox

@@ -0,0 +1,112 @@
+/** \page install Installation
+
+\section obtaining_source Obtaining the source
+
+The libswiftnav source and release tarballs are available from GitHub,
+https://github.com/swift-nav/libswiftnav.
+
+The latest development version of libswiftnav can be cloned from GitHub using
+the following command:
+
+    $ git clone git://github.com/swift-nav/libswiftnav.git
+
+
+\section building_source Building from source
+
+Libswiftnav is intended to have very few dependencies, to facilitate
+use in embedded environments.  It has no runtime dependencies outside
+of the C standard library.  The only build dependencies are the CMake
+build system and pkg-config.
+
+On Debian-based systems (including Ubuntu 12.10 or later) you can get
+them with:
+
+    $ sudo apt-get install build-essential pkg-config cmake
+
+On other systems, you can obtain CMake from your operating system
+package manager or from http://www.cmake.org/.
+
+Once you have the dependencies installed, navigate to the libswiftnav
+root directory and create a build directory where the library will be
+built.
+
+    $ cd libswiftnav
+    $ mkdir build
+    $ cd build
+
+First invoke CMake to configure the build.
+
+    $ cmake ../
+
+Once the build has been configured you can build the source and install it
+as follows.
+
+    $ make
+    $ sudo make install
+
+By default libswiftnav will be built both as a shared library `libswiftnav` and
+a static library `libswiftnav-static`.
+
+\section building_docs Building the documentation
+
+The latest version of the libswiftnav documentation should be available online
+at http://docs.swift-nav.com/libswiftnav/
+
+The documentation is built using Doxygen (http://www.doxygen.org) and contains
+diagrams prepared using \f$\LaTeX\f$. To build the diagrams you will require a
+working \f$\LaTeX\f$ distribution including the TikZ package and the 'convert'
+utility from ImageMagik (http://www.imagemagick.org/).
+
+To build the documentation, from inside your build directory run:
+
+    $ make docs
+
+The compiled documentation will placed in `build/docs/html`.
+
+
+\section cross_compile Cross-compiling
+
+libswiftnav was designed from the ground up to be portable and with a view to
+being run on embedded systems. It should be easy to cross-compile for any
+target with a standards compliant C compiler.
+
+To cross-compile we need to provide CMake with a few details about our
+cross-compilation toolchain. We achieve this with a toolchain file. For more
+details about toolchain files and how to prepare your own, see
+http://www.cmake.org/Wiki/CMake_Cross_Compiling.
+
+Here we will walk through a cross-compilation for a Cortex-M4 microcontroller
+using the included toolchain file for the gcc-arm-embedded toolchain
+(https://launchpad.net/gcc-arm-embedded).
+
+First make a build folder for our target, this can co-exist alongside a native
+build folder.
+
+    $ mkdir build_cm4
+    $ cd build_cm4
+
+Then configure our build using CMake, specifying the toolchain file we are
+using.
+
+    $ cmake -DCMAKE_TOOLCHAIN_FILE=../cmake/Toolchain-gcc-arm-embedded.cmake ../
+
+Then we can build the source in the usual way.
+
+    $ make
+
+If you wish you can install the library to your toolchain environment, this
+must be configured correctly in the toolchain file. For the included
+gcc-arm-embedded toolchain file this should work correctly.
+
+    $ make install
+
+If your target environment does not support shared libraries then you should
+specify not to build shared libraries in your toolchain file as follows.
+
+    set(BUILD_SHARED_LIBS OFF)
+
+When cross-compiling the generated libraries will have a suffix of the target
+processor name, e.g. `libswiftnav-static-cortex-m4.a`.
+
+*/
+

c/docs/main.dox

@@ -0,0 +1,10 @@
+/** \mainpage
+
+libswiftnav is a platform independent library of GNSS related functions.
+This library implements GNSS related functions and algorithms for use by
+software-defined GNSS receivers and other software.
+
+It is intended to be as portable as possible and is written in standards
+compliant C with no dependancies other than the standard C libraries.
+
+*/

python/MANIFEST.IN

@@ -1 +1,10 @@
-include README.md
+include *.cfg
+include *.md
+include *.py
+include *.sh
+include .coveragerc
+include .gitignore
+include LICENSE
+include tox.ini
+recursive-include sbp/ *.py
+prune docs/_build

python/docs/Makefile

@@ -0,0 +1,192 @@
+# Makefile for Sphinx documentation
+#
+
+# You can set these variables from the command line.
+SPHINXOPTS    =
+SPHINXBUILD   = sphinx-build
+PAPER         =
+BUILDDIR      = build
+
+# User-friendly check for sphinx-build
+ifeq ($(shell which $(SPHINXBUILD) >/dev/null 2>&1; echo $$?), 1)
+$(error The '$(SPHINXBUILD)' command was not found. Make sure you have Sphinx installed, then set the SPHINXBUILD environment variable to point to the full path of the '$(SPHINXBUILD)' executable. Alternatively you can add the directory with the executable to your PATH. If you don't have Sphinx installed, grab it from http://sphinx-doc.org/)
+endif
+
+# Internal variables.
+PAPEROPT_a4     = -D latex_paper_size=a4
+PAPEROPT_letter = -D latex_paper_size=letter
+ALLSPHINXOPTS   = -d $(BUILDDIR)/doctrees $(PAPEROPT_$(PAPER)) $(SPHINXOPTS) source
+# the i18n builder cannot share the environment and doctrees with the others
+I18NSPHINXOPTS  = $(PAPEROPT_$(PAPER)) $(SPHINXOPTS) source
+
+.PHONY: help clean html dirhtml singlehtml pickle json htmlhelp qthelp devhelp epub latex latexpdf text man changes linkcheck doctest coverage gettext
+
+help:
+	@echo "Please use \`make <target>' where <target> is one of"
+	@echo "  html       to make standalone HTML files"
+	@echo "  dirhtml    to make HTML files named index.html in directories"
+	@echo "  singlehtml to make a single large HTML file"
+	@echo "  pickle     to make pickle files"
+	@echo "  json       to make JSON files"
+	@echo "  htmlhelp   to make HTML files and a HTML help project"
+	@echo "  qthelp     to make HTML files and a qthelp project"
+	@echo "  applehelp  to make an Apple Help Book"
+	@echo "  devhelp    to make HTML files and a Devhelp project"
+	@echo "  epub       to make an epub"
+	@echo "  latex      to make LaTeX files, you can set PAPER=a4 or PAPER=letter"
+	@echo "  latexpdf   to make LaTeX files and run them through pdflatex"
+	@echo "  latexpdfja to make LaTeX files and run them through platex/dvipdfmx"
+	@echo "  text       to make text files"
+	@echo "  man        to make manual pages"
+	@echo "  texinfo    to make Texinfo files"
+	@echo "  info       to make Texinfo files and run them through makeinfo"
+	@echo "  gettext    to make PO message catalogs"
+	@echo "  changes    to make an overview of all changed/added/deprecated items"
+	@echo "  xml        to make Docutils-native XML files"
+	@echo "  pseudoxml  to make pseudoxml-XML files for display purposes"
+	@echo "  linkcheck  to check all external links for integrity"
+	@echo "  doctest    to run all doctests embedded in the documentation (if enabled)"
+	@echo "  coverage   to run coverage check of the documentation (if enabled)"
+
+clean:
+	rm -rf $(BUILDDIR)/*
+
+html:
+	$(SPHINXBUILD) -b html $(ALLSPHINXOPTS) $(BUILDDIR)/html
+	@echo
+	@echo "Build finished. The HTML pages are in $(BUILDDIR)/html."
+
+dirhtml:
+	$(SPHINXBUILD) -b dirhtml $(ALLSPHINXOPTS) $(BUILDDIR)/dirhtml
+	@echo
+	@echo "Build finished. The HTML pages are in $(BUILDDIR)/dirhtml."
+
+singlehtml:
+	$(SPHINXBUILD) -b singlehtml $(ALLSPHINXOPTS) $(BUILDDIR)/singlehtml
+	@echo
+	@echo "Build finished. The HTML page is in $(BUILDDIR)/singlehtml."
+
+pickle:
+	$(SPHINXBUILD) -b pickle $(ALLSPHINXOPTS) $(BUILDDIR)/pickle
+	@echo
+	@echo "Build finished; now you can process the pickle files."
+
+json:
+	$(SPHINXBUILD) -b json $(ALLSPHINXOPTS) $(BUILDDIR)/json
+	@echo
+	@echo "Build finished; now you can process the JSON files."
+
+htmlhelp:
+	$(SPHINXBUILD) -b htmlhelp $(ALLSPHINXOPTS) $(BUILDDIR)/htmlhelp
+	@echo
+	@echo "Build finished; now you can run HTML Help Workshop with the" \
+	      ".hhp project file in $(BUILDDIR)/htmlhelp."
+
+qthelp:
+	$(SPHINXBUILD) -b qthelp $(ALLSPHINXOPTS) $(BUILDDIR)/qthelp
+	@echo
+	@echo "Build finished; now you can run "qcollectiongenerator" with the" \
+	      ".qhcp project file in $(BUILDDIR)/qthelp, like this:"
+	@echo "# qcollectiongenerator $(BUILDDIR)/qthelp/sbp.qhcp"
+	@echo "To view the help file:"
+	@echo "# assistant -collectionFile $(BUILDDIR)/qthelp/sbp.qhc"
+
+applehelp:
+	$(SPHINXBUILD) -b applehelp $(ALLSPHINXOPTS) $(BUILDDIR)/applehelp
+	@echo
+	@echo "Build finished. The help book is in $(BUILDDIR)/applehelp."
+	@echo "N.B. You won't be able to view it unless you put it in" \
+	      "~/Library/Documentation/Help or install it in your application" \
+	      "bundle."
+
+devhelp:
+	$(SPHINXBUILD) -b devhelp $(ALLSPHINXOPTS) $(BUILDDIR)/devhelp
+	@echo
+	@echo "Build finished."
+	@echo "To view the help file:"
+	@echo "# mkdir -p $$HOME/.local/share/devhelp/sbp"
+	@echo "# ln -s $(BUILDDIR)/devhelp $$HOME/.local/share/devhelp/sbp"
+	@echo "# devhelp"
+
+epub:
+	$(SPHINXBUILD) -b epub $(ALLSPHINXOPTS) $(BUILDDIR)/epub
+	@echo
+	@echo "Build finished. The epub file is in $(BUILDDIR)/epub."
+
+latex:
+	$(SPHINXBUILD) -b latex $(ALLSPHINXOPTS) $(BUILDDIR)/latex
+	@echo
+	@echo "Build finished; the LaTeX files are in $(BUILDDIR)/latex."
+	@echo "Run \`make' in that directory to run these through (pdf)latex" \
+	      "(use \`make latexpdf' here to do that automatically)."
+
+latexpdf:
+	$(SPHINXBUILD) -b latex $(ALLSPHINXOPTS) $(BUILDDIR)/latex
+	@echo "Running LaTeX files through pdflatex..."
+	$(MAKE) -C $(BUILDDIR)/latex all-pdf
+	@echo "pdflatex finished; the PDF files are in $(BUILDDIR)/latex."
+
+latexpdfja:
+	$(SPHINXBUILD) -b latex $(ALLSPHINXOPTS) $(BUILDDIR)/latex
+	@echo "Running LaTeX files through platex and dvipdfmx..."
+	$(MAKE) -C $(BUILDDIR)/latex all-pdf-ja
+	@echo "pdflatex finished; the PDF files are in $(BUILDDIR)/latex."
+
+text:
+	$(SPHINXBUILD) -b text $(ALLSPHINXOPTS) $(BUILDDIR)/text
+	@echo
+	@echo "Build finished. The text files are in $(BUILDDIR)/text."
+
+man:
+	$(SPHINXBUILD) -b man $(ALLSPHINXOPTS) $(BUILDDIR)/man
+	@echo
+	@echo "Build finished. The manual pages are in $(BUILDDIR)/man."
+
+texinfo:
+	$(SPHINXBUILD) -b texinfo $(ALLSPHINXOPTS) $(BUILDDIR)/texinfo
+	@echo
+	@echo "Build finished. The Texinfo files are in $(BUILDDIR)/texinfo."
+	@echo "Run \`make' in that directory to run these through makeinfo" \
+	      "(use \`make info' here to do that automatically)."
+
+info:
+	$(SPHINXBUILD) -b texinfo $(ALLSPHINXOPTS) $(BUILDDIR)/texinfo
+	@echo "Running Texinfo files through makeinfo..."
+	make -C $(BUILDDIR)/texinfo info
+	@echo "makeinfo finished; the Info files are in $(BUILDDIR)/texinfo."
+
+gettext:
+	$(SPHINXBUILD) -b gettext $(I18NSPHINXOPTS) $(BUILDDIR)/locale
+	@echo
+	@echo "Build finished. The message catalogs are in $(BUILDDIR)/locale."
+
+changes:
+	$(SPHINXBUILD) -b changes $(ALLSPHINXOPTS) $(BUILDDIR)/changes
+	@echo
+	@echo "The overview file is in $(BUILDDIR)/changes."
+
+linkcheck:
+	$(SPHINXBUILD) -b linkcheck $(ALLSPHINXOPTS) $(BUILDDIR)/linkcheck
+	@echo
+	@echo "Link check complete; look for any errors in the above output " \
+	      "or in $(BUILDDIR)/linkcheck/output.txt."
+
+doctest:
+	$(SPHINXBUILD) -b doctest $(ALLSPHINXOPTS) $(BUILDDIR)/doctest
+	@echo "Testing of doctests in the sources finished, look at the " \
+	      "results in $(BUILDDIR)/doctest/output.txt."
+
+coverage:
+	$(SPHINXBUILD) -b coverage $(ALLSPHINXOPTS) $(BUILDDIR)/coverage
+	@echo "Testing of coverage in the sources finished, look at the " \
+	      "results in $(BUILDDIR)/coverage/python.txt."
+
+xml:
+	$(SPHINXBUILD) -b xml $(ALLSPHINXOPTS) $(BUILDDIR)/xml
+	@echo
+	@echo "Build finished. The XML files are in $(BUILDDIR)/xml."
+
+pseudoxml:
+	$(SPHINXBUILD) -b pseudoxml $(ALLSPHINXOPTS) $(BUILDDIR)/pseudoxml
+	@echo
+	@echo "Build finished. The pseudo-XML files are in $(BUILDDIR)/pseudoxml."