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mirror of https://github.com/gnss-sdr/gnss-sdr synced 2025-01-27 17:34:53 +00:00

working on the printers: added time tag to KML and GeoJSON names, some

fixes of CRC computation and check, more tests
This commit is contained in:
Carles Fernandez 2015-11-22 14:43:52 +01:00
parent a85e711bd9
commit 0c57c6b6f7
14 changed files with 322 additions and 120 deletions

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@ -73,14 +73,12 @@ galileo_e1_pvt_cc::galileo_e1_pvt_cc(unsigned int nchannels, boost::shared_ptr<g
//initialize kml_printer
std::string kml_dump_filename;
kml_dump_filename = d_dump_filename;
kml_dump_filename.append(".kml");
d_kml_dump = std::make_shared<Kml_Printer>();
d_kml_dump->set_headers(kml_dump_filename);
//initialize geojson_printer
std::string geojson_dump_filename;
geojson_dump_filename = d_dump_filename;
geojson_dump_filename.append(".geojson");
d_geojson_printer = std::make_shared<GeoJSON_Printer>();
d_geojson_printer->set_headers(geojson_dump_filename);

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@ -86,14 +86,12 @@ gps_l1_ca_pvt_cc::gps_l1_ca_pvt_cc(unsigned int nchannels,
//initialize kml_printer
std::string kml_dump_filename;
kml_dump_filename = d_dump_filename;
kml_dump_filename.append(".kml");
d_kml_printer = std::make_shared<Kml_Printer>();
d_kml_printer->set_headers(kml_dump_filename);
//initialize geojson_printer
std::string geojson_dump_filename;
geojson_dump_filename = d_dump_filename;
geojson_dump_filename.append(".geojson");
d_geojson_printer = std::make_shared<GeoJSON_Printer>();
d_geojson_printer->set_headers(geojson_dump_filename);

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@ -77,14 +77,12 @@ hybrid_pvt_cc::hybrid_pvt_cc(unsigned int nchannels, boost::shared_ptr<gr::msg_q
//initialize kml_printer
std::string kml_dump_filename;
kml_dump_filename = d_dump_filename;
kml_dump_filename.append(".kml");
d_kml_dump = std::make_shared<Kml_Printer>();
d_kml_dump->set_headers(kml_dump_filename);
//initialize geojson_printer
std::string geojson_dump_filename;
geojson_dump_filename = d_dump_filename;
geojson_dump_filename.append(".geojson");
d_geojson_printer = std::make_shared<GeoJSON_Printer>();
d_geojson_printer->set_headers(geojson_dump_filename);

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@ -31,8 +31,10 @@
#include "geojson_printer.h"
#include <ctime>
#include <iostream>
#include <iomanip>
#include <sstream>
#include <glog/logging.h>
GeoJSON_Printer::GeoJSON_Printer () {}
@ -45,10 +47,58 @@ GeoJSON_Printer::~GeoJSON_Printer ()
}
bool GeoJSON_Printer::set_headers(std::string filename)
bool GeoJSON_Printer::set_headers(std::string filename, bool time_tag_name)
{
geojson_file.open(filename.c_str());
filename_ = filename;
time_t rawtime;
struct tm * timeinfo;
time ( &rawtime );
timeinfo = localtime ( &rawtime );
if (time_tag_name)
{
std::stringstream strm0;
const int year = timeinfo->tm_year - 100;
strm0 << year;
const int month = timeinfo->tm_mon + 1;
if(month < 10)
{
strm0 << "0";
}
strm0 << month;
const int day = timeinfo->tm_mday;
if(day < 10)
{
strm0 << "0";
}
strm0 << day << "_";
const int hour = timeinfo->tm_hour;
if(hour < 10)
{
strm0 << "0";
}
strm0 << hour;
const int min = timeinfo->tm_min;
if(min < 10)
{
strm0 << "0";
}
strm0 << min;
const int sec = timeinfo->tm_sec;
if(sec < 10)
{
strm0 << "0";
}
strm0 << sec;
filename_ = filename + "_" + strm0.str() + ".geojson";
}
else
{
filename_ = filename + ".geojson";
}
geojson_file.open(filename_.c_str());
first_pos = true;
if (geojson_file.is_open())
{

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@ -54,7 +54,7 @@ private:
public:
GeoJSON_Printer();
~GeoJSON_Printer();
bool set_headers(std::string filename);
bool set_headers(std::string filename, bool time_tag_name = true);
bool print_position(const std::shared_ptr<Pvt_Solution>& position, bool print_average_values);
bool close_file();
};

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@ -31,17 +31,63 @@
#include "kml_printer.h"
#include <ctime>
#include <sstream>
#include <glog/logging.h>
using google::LogMessage;
bool Kml_Printer::set_headers(std::string filename)
bool Kml_Printer::set_headers(std::string filename, bool time_tag_name)
{
time_t rawtime;
struct tm * timeinfo;
time ( &rawtime );
timeinfo = localtime ( &rawtime );
kml_file.open(filename.c_str());
if (time_tag_name)
{
std::stringstream strm0;
const int year = timeinfo->tm_year - 100;
strm0 << year;
const int month = timeinfo->tm_mon + 1;
if(month < 10)
{
strm0 << "0";
}
strm0 << month;
const int day = timeinfo->tm_mday;
if(day < 10)
{
strm0 << "0";
}
strm0 << day << "_";
const int hour = timeinfo->tm_hour;
if(hour < 10)
{
strm0 << "0";
}
strm0 << hour;
const int min = timeinfo->tm_min;
if(min < 10)
{
strm0 << "0";
}
strm0 << min;
const int sec = timeinfo->tm_sec;
if(sec < 10)
{
strm0 << "0";
}
strm0 << sec;
kml_filename = filename + "_" + strm0.str() + ".kml";
}
else
{
kml_filename = filename + ".kml";
}
kml_file.open(kml_filename.c_str());
if (kml_file.is_open())
{
DLOG(INFO) << "KML printer writing on " << filename.c_str();
@ -88,6 +134,8 @@ bool Kml_Printer::print_position(const std::shared_ptr<Pvt_Solution>& position,
double longitude;
double height;
positions_printed = true;
std::shared_ptr<Pvt_Solution> position_ = position;
if (print_average_values == false)
@ -119,6 +167,7 @@ bool Kml_Printer::close_file()
{
if (kml_file.is_open())
{
kml_file << "</coordinates>" << std::endl
<< "</LineString>" << std::endl
<< "</Placemark>" << std::endl
@ -135,12 +184,19 @@ bool Kml_Printer::close_file()
Kml_Printer::Kml_Printer () {}
Kml_Printer::Kml_Printer ()
{
positions_printed = false;
}
Kml_Printer::~Kml_Printer ()
{
close_file();
if(!positions_printed)
{
if(remove(kml_filename.c_str()) != 0) LOG(INFO) << "Error deleting temporary KML file";
}
}

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@ -48,10 +48,12 @@ class Kml_Printer
{
private:
std::ofstream kml_file;
bool positions_printed;
std::string kml_filename;
public:
Kml_Printer();
~Kml_Printer();
bool set_headers(std::string filename);
bool set_headers(std::string filename, bool time_tag_name = true);
bool print_position(const std::shared_ptr<Pvt_Solution>& position, bool print_average_values);
bool close_file();
};

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@ -73,11 +73,11 @@ Rtcm_Printer::~Rtcm_Printer()
if (rtcm_file_descriptor.is_open())
{
long pos;
rtcm_file_descriptor.close();
pos = rtcm_file_descriptor.tellp();
rtcm_file_descriptor.close();
if (pos == 0)
{
if(remove(rtcm_filename.c_str()) != 0) LOG(INFO) << "Error deleting temporary file";
if(remove(rtcm_filename.c_str()) != 0) LOG(INFO) << "Error deleting temporary RTCM file";
}
}
close_serial();

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@ -66,6 +66,7 @@ Rtcm::Rtcm()
std::string Rtcm::add_CRC (const std::string& message_without_crc)
{
// ****** Computes Qualcomm CRC-24Q ******
crc_24_q_type CRC_RTCM;
// 1) Converts the string to a vector of unsigned char:
boost::dynamic_bitset<unsigned char> frame_bits(message_without_crc);
std::vector<unsigned char> bytes;
@ -84,6 +85,8 @@ std::string Rtcm::add_CRC (const std::string& message_without_crc)
bool Rtcm::check_CRC(const std::string & message)
{
crc_24_q_type CRC_RTCM_CHECK;
// Convert message to binary
std::string message_bin = Rtcm::hex_to_bin(message);
// Check CRC
@ -96,8 +99,8 @@ bool Rtcm::check_CRC(const std::string & message)
boost::to_block_range(frame_bits, std::back_inserter(bytes));
std::reverse(bytes.begin(),bytes.end());
CRC_RTCM.process_bytes(bytes.data(), bytes.size());
std::bitset<24> computed_crc = std::bitset<24>(CRC_RTCM.checksum());
CRC_RTCM_CHECK.process_bytes(bytes.data(), bytes.size());
std::bitset<24> computed_crc = std::bitset<24>(CRC_RTCM_CHECK.checksum());
if(read_crc == computed_crc)
{
return true;

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@ -78,6 +78,7 @@ public:
std::string print_M1005_test(); //<! For testing purposes
int read_M1005(const std::string & message, unsigned int & ref_id, double & ecef_x, double & ecef_y, double & ecef_z, bool & gps, bool & glonass, bool & galileo);
bool check_CRC(const std::string & message);
private:
//
// Messages
@ -123,9 +124,8 @@ private:
std::bitset<10> message_length;
std::bitset<24> crc_frame;
typedef boost::crc_optimal<24, 0x1864CFBu, 0x0, 0x0, false, false> crc_24_q_type;
crc_24_q_type CRC_RTCM;
std::string add_CRC(const std::string& m);
bool check_CRC(const std::string & message);
std::string build_message(std::string data); // adds 0s to complete a byte and adds the CRC

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@ -0,0 +1,172 @@
/*!
* \file rtcm_test.cc
* \brief This file implements unit tests for the Rtcm class.
* \author Carles Fernandez-Prades, 2015. cfernandez(at)cttc.es
*
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#include <memory>
#include "rtcm.h"
TEST(Rtcm_Test, Hex_to_bin)
{
auto rtcm = std::make_shared<Rtcm>();
std::string test1 = "2A";
std::string test1_bin = rtcm->hex_to_bin(test1);
EXPECT_EQ(0, test1_bin.compare("00101010"));
std::string test2 = "FF";
std::string test2_bin = rtcm->hex_to_bin(test2);
EXPECT_EQ(0, test2_bin.compare("11111111"));
std::string test3 = "ff";
std::string test3_bin = rtcm->hex_to_bin(test3);
EXPECT_EQ(0, test3_bin.compare("11111111"));
std::string test4 = "100";
std::string test4_bin = rtcm->hex_to_bin(test4);
EXPECT_EQ(0, test4_bin.compare("000100000000"));
std::string test5 = "1101";
std::string test5_bin = rtcm->hex_to_bin(test5);
EXPECT_EQ(0, test5_bin.compare("0001000100000001"));
std::string test6 = "3";
std::string test6_bin = rtcm->hex_to_bin(test6);
EXPECT_EQ(0, test6_bin.compare("0011"));
}
TEST(Rtcm_Test, Bin_to_hex)
{
auto rtcm = std::make_shared<Rtcm>();
std::string test1 = "00101010";
std::string test1_hex = rtcm->bin_to_hex(test1);
EXPECT_EQ(0, test1_hex.compare("2A"));
std::string test2 = "11111111";
std::string test2_hex = rtcm->bin_to_hex(test2);
EXPECT_EQ(0, test2_hex.compare("FF"));
std::string test4 = "000100000000";
std::string test4_hex = rtcm->bin_to_hex(test4);
EXPECT_EQ(0, test4_hex.compare("100"));
std::string test5 = "0001000100000001";
std::string test5_hex = rtcm->bin_to_hex(test5);
EXPECT_EQ(0, test5_hex.compare("1101"));
std::string test6 = "0011";
std::string test6_hex = rtcm->bin_to_hex(test6);
EXPECT_EQ(0, test6_hex.compare("3"));
std::string test7 = "11";
std::string test7_hex = rtcm->bin_to_hex(test7);
EXPECT_EQ(0, test7_hex.compare("3"));
std::string test8 = "1000100000001";
std::string test8_hex = rtcm->bin_to_hex(test8);
EXPECT_EQ(0, test8_hex.compare("1101"));
}
TEST(Rtcm_Test, Hex_to_int)
{
auto rtcm = std::make_shared<Rtcm>();
std::string test1 = "2A";
long int test1_int = rtcm->hex_to_int(test1);
long int expected1 = 42;
EXPECT_EQ(expected1, test1_int);
}
TEST(Rtcm_Test, Bin_to_double)
{
auto rtcm = std::make_shared<Rtcm>();
std::bitset<4> test1(5);
long int test1_int = static_cast<long int>(rtcm->bin_to_double(test1.to_string()));
long int expected1 = 5;
EXPECT_EQ(expected1, test1_int);
std::bitset<4> test2(-5);
EXPECT_DOUBLE_EQ(-5, rtcm->bin_to_double(test2.to_string()));
std::bitset<65> test3(-5);
EXPECT_DOUBLE_EQ(0, rtcm->bin_to_double(test3.to_string()));
}
TEST(Rtcm_Test, Test_Read_M1005)
{
auto rtcm = std::make_shared<Rtcm>();
std::string reference_msg = rtcm->print_M1005_test();
unsigned int ref_id;
double ecef_x;
double ecef_y;
double ecef_z;
bool gps;
bool glonass;
bool galileo;
rtcm->read_M1005(reference_msg, ref_id, ecef_x, ecef_y, ecef_z, gps, glonass, galileo);
EXPECT_EQ(true, gps);
EXPECT_EQ(false, glonass);
EXPECT_EQ(false, galileo);
EXPECT_EQ(2003, ref_id);
EXPECT_DOUBLE_EQ(1114104.5999, ecef_x);
EXPECT_DOUBLE_EQ(-4850729.7108, ecef_y);
EXPECT_DOUBLE_EQ(3975521.4643, ecef_z);
rtcm->read_M1005("D300133ED7D30202980EDEEF34B4BD62AC0941986F33360B98", ref_id, ecef_x, ecef_y, ecef_z, gps, glonass, galileo);
EXPECT_EQ(true, gps);
EXPECT_EQ(false, glonass);
EXPECT_EQ(false, galileo);
EXPECT_EQ(2003, ref_id);
EXPECT_DOUBLE_EQ(1114104.5999, ecef_x);
EXPECT_DOUBLE_EQ(-4850729.7108, ecef_y);
EXPECT_DOUBLE_EQ(3975521.4643, ecef_z);
}
TEST(Rtcm_Test, Check_CRC)
{
auto rtcm = std::make_shared<Rtcm>();
EXPECT_EQ(true, rtcm->check_CRC("D300133ED7D30202980EDEEF34B4BD62AC0941986F33360B98"));
EXPECT_EQ(false, rtcm->check_CRC("D300133ED7D30202980EDEEF34B4BD62AC0941986F33360B99"));
EXPECT_EQ(true, rtcm->check_CRC(rtcm->print_M1005_test()));
EXPECT_EQ(true, rtcm->check_CRC(rtcm->print_M1005_test()));
}

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@ -28,13 +28,13 @@
* -------------------------------------------------------------------------
*/
#include <fstream>
#include <map>
//#include <fstream>
//#include <map>
#include <string>
#include <boost/archive/xml_iarchive.hpp>
#include <boost/serialization/nvp.hpp>
//#include <boost/archive/xml_iarchive.hpp>
//#include <boost/serialization/nvp.hpp>
#include "rtcm_printer.h"
#include "gps_ephemeris.h"
//#include "gps_ephemeris.h"
@ -48,111 +48,35 @@ TEST(Rtcm_Printer_Test, Instantiate)
std::unique_ptr<Rtcm_Printer> RTCM_printer(new Rtcm_Printer(filename, flag_rtcm_tty_port, rtcm_dump_devname));
}
TEST(Rtcm_Printer_Test, Instantiate_and_Run)
TEST(Rtcm_Printer_Test, Run)
{
std::string file_name = "./gps_ephemeris_rx.xml";
std::map<int,Gps_Ephemeris> gps_ephemeris_map;
try
{
std::ifstream ifs(file_name.c_str(), std::ifstream::binary | std::ifstream::in);
boost::archive::xml_iarchive xml(ifs);
gps_ephemeris_map.clear();
xml >> boost::serialization::make_nvp("GNSS-SDR_ephemeris_map", gps_ephemeris_map);
ifs.close();
}
catch (std::exception& e)
{
//LOG(WARNING) << e.what() << "File: " << file_name;
//std::cout << "File not found" << std::endl;
}
// std::string file_name = "./gps_ephemeris_rx.xml";
// std::map<int,Gps_Ephemeris> gps_ephemeris_map;
// try
// {
// std::ifstream ifs(file_name.c_str(), std::ifstream::binary | std::ifstream::in);
// boost::archive::xml_iarchive xml(ifs);
// gps_ephemeris_map.clear();
// xml >> boost::serialization::make_nvp("GNSS-SDR_ephemeris_map", gps_ephemeris_map);
// ifs.close();
// }
// catch (std::exception& e)
// {
// //LOG(WARNING) << e.what() << "File: " << file_name;
// //std::cout << "File not found" << std::endl;
// }
std::string filename = "hello.rtcm";
std::string filename = "test.rtcm";
bool flag_rtcm_tty_port = false;
std::string rtcm_dump_devname = "/dev/pts/4";
std::unique_ptr<Rtcm_Printer> RTCM_printer(new Rtcm_Printer(filename, flag_rtcm_tty_port, rtcm_dump_devname));
std::string reference_msg = "D300133ED7D30202980EDEEF34B4BD62AC0941986F33360B98";
std::string testing_msg = RTCM_printer->print_M1005_test();
EXPECT_EQ(reference_msg, testing_msg);
}
TEST(Rtcm_Printer_Test, Bin_to_hex)
{
auto rtcm = std::make_shared<Rtcm>();
std::string test1 = "2A";
std::string test1_bin = rtcm->hex_to_bin(test1);
EXPECT_EQ(0, test1_bin.compare("00101010"));
std::string test2 = "FF";
std::string test2_bin = rtcm->hex_to_bin(test2);
EXPECT_EQ(0, test2_bin.compare("11111111"));
std::string test3 = "ff";
std::string test3_bin = rtcm->hex_to_bin(test3);
EXPECT_EQ(0, test3_bin.compare("11111111"));
}
TEST(Rtcm_Printer_Test, Hex_to_int)
{
auto rtcm = std::make_shared<Rtcm>();
std::string test1 = "2A";
long int test1_int = rtcm->hex_to_int(test1);
long int expected1 = 42;
EXPECT_EQ(expected1, test1_int);
}
TEST(Rtcm_Printer_Test, Bin_to_double)
{
auto rtcm = std::make_shared<Rtcm>();
std::bitset<4> test1(5);
long int test1_int = static_cast<long int>(rtcm->bin_to_double(test1.to_string()));
long int expected1 = 5;
EXPECT_EQ(expected1, test1_int);
std::bitset<4> test2(-5);
long int test2_int = static_cast<long int>(rtcm->bin_to_double(test2.to_string()));
long int expected2 = -5;
EXPECT_EQ(expected2, test2_int);
std::bitset<65> test3(-5);
long int test3_int = static_cast<long int>(rtcm->bin_to_double(test3.to_string()));
long int expected3 = 0;
EXPECT_EQ(expected3, test3_int);
}
TEST(Rtcm_Printer_Test, Read_M1005)
{
std::string filename = "hello.rtcm";
bool flag_rtcm_tty_port = false;
std::string rtcm_dump_devname = "/dev/pts/4";
auto rtcm = std::make_shared<Rtcm>();
auto rtcm_printer = std::make_shared<Rtcm_Printer>(filename, flag_rtcm_tty_port, rtcm_dump_devname);
std::string reference_msg = rtcm_printer->print_M1005_test();
unsigned int ref_id;
double ecef_x;
double ecef_y;
double ecef_z;
bool gps;
bool glonass;
bool galileo;
rtcm->read_M1005(reference_msg, ref_id, ecef_x, ecef_y, ecef_z, gps, glonass, galileo);
EXPECT_EQ(true, gps);
EXPECT_EQ(false, glonass);
EXPECT_EQ(false, galileo);
EXPECT_EQ(2003, ref_id);
EXPECT_DOUBLE_EQ(1114104.5999, ecef_x);
EXPECT_DOUBLE_EQ(-4850729.7108, ecef_y);
EXPECT_DOUBLE_EQ(3975521.4643, ecef_z);
}

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@ -79,6 +79,8 @@ DECLARE_string(log_dir);
#include "control_thread/control_thread_test.cc"
#include "flowgraph/pass_through_test.cc"
#include "flowgraph/gnss_flowgraph_test.cc"
#include "formats/string_converter_test.cc"
#include "formats/rtcm_test.cc"
#include "gnss_block/gnss_block_factory_test.cc"
#include "gnss_block/rtcm_printer_test.cc"
#include "gnss_block/file_output_filter_test.cc"
@ -103,7 +105,6 @@ DECLARE_string(log_dir);
#include "gnss_block/galileo_e1_dll_pll_veml_tracking_test.cc"
#include "gnuradio_block/gnss_sdr_valve_test.cc"
#include "gnuradio_block/direct_resampler_conditioner_cc_test.cc"
#include "string_converter/string_converter_test.cc"
//#include "gnss_block/galileo_e5a_pcps_acquisition_test.cc"
//#include "gnss_block/galileo_e5a_pcps_acquisition_test_2.cc"