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Remove old KML reader

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This commit is contained in:
Carles Fernandez 2018-11-09 12:14:05 +01:00
parent 66c3a9ed3a
commit 2db629a6c1
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GPG Key ID: 4C583C52B0C3877D
2 changed files with 31 additions and 97 deletions
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1
src/tests/system-tests/libs/position_test_flags.h
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@ -37,7 +37,6 @@
DEFINE_string(config_file_ptest, std::string(""), "File containing the configuration parameters for the position test."); DEFINE_string(config_file_ptest, std::string(""), "File containing the configuration parameters for the position test.");
DEFINE_bool(plot_position_test, false, "Plots results of with gnuplot"); DEFINE_bool(plot_position_test, false, "Plots results of with gnuplot");
DEFINE_bool(static_scenario, true, "Compute figures of merit for static user position (DRMS, CEP, etc..)"); DEFINE_bool(static_scenario, true, "Compute figures of merit for static user position (DRMS, CEP, etc..)");
DEFINE_bool(use_pvt_solver_dump, false, "Use PVT solver binary dump or fall back to KML PVT file (contains only position information)");
DEFINE_bool(use_ref_motion_file, false, "Enable or disable the use of a reference file containing the true receiver position, velocity and acceleration."); DEFINE_bool(use_ref_motion_file, false, "Enable or disable the use of a reference file containing the true receiver position, velocity and acceleration.");
DEFINE_int32(ref_motion_file_type, 1, "Type of reference motion file: 1- Spirent CSV motion file"); DEFINE_int32(ref_motion_file_type, 1, "Type of reference motion file: 1- Spirent CSV motion file");
DEFINE_string(ref_motion_filename, std::string("motion.csv"), "Path and filename for the reference motion file"); DEFINE_string(ref_motion_filename, std::string("motion.csv"), "Path and filename for the reference motion file");

127
src/tests/system-tests/position_test.cc
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@ -455,107 +455,42 @@ void PositionSystemTest::check_results()
ref_R_eb_e.insert_cols(0, true_r_eb_e); ref_R_eb_e.insert_cols(0, true_r_eb_e);
arma::vec ref_r_enu = {0, 0, 0}; arma::vec ref_r_enu = {0, 0, 0};
cart2utm(true_r_eb_e, utm_zone, ref_r_enu); cart2utm(true_r_eb_e, utm_zone, ref_r_enu);
if (!FLAGS_use_pvt_solver_dump)
rtklib_solver_dump_reader pvt_reader;
pvt_reader.open_obs_file(FLAGS_pvt_solver_dump_filename);
int64_t n_epochs = pvt_reader.num_epochs();
R_eb_e = arma::zeros(3, n_epochs);
V_eb_e = arma::zeros(3, n_epochs);
LLH = arma::zeros(3, n_epochs);
receiver_time_s = arma::zeros(n_epochs, 1);
int64_t current_epoch = 0;
while (pvt_reader.read_binary_obs())
{ {
//fall back to read receiver KML output (position only) receiver_time_s(current_epoch) = pvt_reader.RX_time - pvt_reader.clk_offset_s;
std::fstream myfile(PositionSystemTest::generated_kml_file, std::ios_base::in); R_eb_e(0, current_epoch) = pvt_reader.rr[0];
ASSERT_TRUE(myfile.is_open()) << "No valid kml file could be opened"; R_eb_e(1, current_epoch) = pvt_reader.rr[1];
std::string line; R_eb_e(2, current_epoch) = pvt_reader.rr[2];
// Skip header V_eb_e(0, current_epoch) = pvt_reader.rr[3];
std::getline(myfile, line); V_eb_e(1, current_epoch) = pvt_reader.rr[4];
bool is_header = true; V_eb_e(2, current_epoch) = pvt_reader.rr[5];
while (is_header) LLH(0, current_epoch) = pvt_reader.latitude;
{ LLH(1, current_epoch) = pvt_reader.longitude;
std::getline(myfile, line); LLH(2, current_epoch) = pvt_reader.height;
ASSERT_FALSE(myfile.eof()) << "No valid kml file found.";
std::size_t found = line.find("<coordinates>");
if (found != std::string::npos) is_header = false;
}
bool is_data = true;
//read data
int64_t current_epoch = 0;
while (is_data)
{
if (!std::getline(myfile, line))
{
is_data = false;
break;
}
std::size_t found = line.find("</coordinates>");
if (found != std::string::npos)
is_data = false;
else
{
std::string str2;
std::istringstream iss(line);
double value;
double lat = 0.0;
double longitude = 0.0;
double h = 0.0;
for (int i = 0; i < 3; i++)
{
std::getline(iss, str2, ',');
value = std::stod(str2);
if (i == 0) longitude = value;
if (i == 1) lat = value;
if (i == 2) h = value;
}
arma::vec tmp_v_ecef; arma::vec tmp_r_enu = {0, 0, 0};
arma::vec tmp_r_ecef; cart2utm(R_eb_e.col(current_epoch), utm_zone, tmp_r_enu);
pv_Geo_to_ECEF(degtorad(lat), degtorad(longitude), h, arma::vec{0, 0, 0}, tmp_r_ecef, tmp_v_ecef); R_eb_enu.insert_cols(current_epoch, tmp_r_enu);
R_eb_e.insert_cols(current_epoch, tmp_r_ecef);
arma::vec tmp_r_enu = {0, 0, 0}; // debug check
cart2utm(tmp_r_ecef, utm_zone, tmp_r_enu); // std::cout << "t1: " << pvt_reader.RX_time << std::endl;
R_eb_enu.insert_cols(current_epoch, tmp_r_enu); // std::cout << "t2: " << pvt_reader.TOW_at_current_symbol_ms << std::endl;
// std::cout << "lat = " << lat << ", longitude = " << longitude << " h = " << h << std::endl; // std::cout << "offset: " << pvt_reader.clk_offset_s << std::endl;
// std::cout << "E = " << east << ", N = " << north << " U = " << up << std::endl; // getchar();
// getchar(); current_epoch++;
}
}
myfile.close();
ASSERT_FALSE(R_eb_e.n_cols == 0) << "KML file is empty";
}
else
{
//use complete binary dump from pvt solver
rtklib_solver_dump_reader pvt_reader;
pvt_reader.open_obs_file(FLAGS_pvt_solver_dump_filename);
int64_t n_epochs = pvt_reader.num_epochs();
R_eb_e = arma::zeros(3, n_epochs);
V_eb_e = arma::zeros(3, n_epochs);
LLH = arma::zeros(3, n_epochs);
receiver_time_s = arma::zeros(n_epochs, 1);
int64_t current_epoch = 0;
while (pvt_reader.read_binary_obs())
{
receiver_time_s(current_epoch) = pvt_reader.RX_time - pvt_reader.clk_offset_s;
R_eb_e(0, current_epoch) = pvt_reader.rr[0];
R_eb_e(1, current_epoch) = pvt_reader.rr[1];
R_eb_e(2, current_epoch) = pvt_reader.rr[2];
V_eb_e(0, current_epoch) = pvt_reader.rr[3];
V_eb_e(1, current_epoch) = pvt_reader.rr[4];
V_eb_e(2, current_epoch) = pvt_reader.rr[5];
LLH(0, current_epoch) = pvt_reader.latitude;
LLH(1, current_epoch) = pvt_reader.longitude;
LLH(2, current_epoch) = pvt_reader.height;
arma::vec tmp_r_enu = {0, 0, 0};
cart2utm(R_eb_e.col(current_epoch), utm_zone, tmp_r_enu);
R_eb_enu.insert_cols(current_epoch, tmp_r_enu);
//debug check
// std::cout << "t1: " << pvt_reader.RX_time << std::endl;
// std::cout << "t2: " << pvt_reader.TOW_at_current_symbol_ms << std::endl;
// std::cout << "offset: " << pvt_reader.clk_offset_s << std::endl;
// getchar();
current_epoch++;
}
ASSERT_FALSE(current_epoch == 0) << "PVT dump is empty";
} }
ASSERT_FALSE(current_epoch == 0) << "PVT dump is empty";
// compute results // compute results
if (FLAGS_static_scenario) if (FLAGS_static_scenario)
{ {
double sigma_E_2_precision = arma::var(R_eb_enu.row(0)); double sigma_E_2_precision = arma::var(R_eb_enu.row(0));