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https://github.com/gnss-sdr/gnss-sdr
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Use Test Fixtures in the TTFF Test
This commit is contained in:
Carles Fernandez
parent
886de8d539
commit
3e716df88b
@ -32,6 +32,7 @@
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#include <ctime>
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#include <chrono>
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#include <cstdlib>
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#include <numeric>
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#include <string>
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#include <sys/types.h>
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@ -70,111 +71,55 @@ typedef struct {
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} ttff_msgbuf;
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void receive_msg()
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class TTFF_GPS_L1_CA_Test: public ::testing::Test
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{
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ttff_msgbuf msg;
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ttff_msgbuf msg_stop;
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msg_stop.mtype = 1;
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msg_stop.ttff = 200;
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double ttff_msg = 0.0;
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int msgrcv_size = sizeof(msg.ttff);
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int msqid;
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int msqid_stop;
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key_t key = 1101;
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key_t key_stop = 1102;
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// wait for the queue to be created
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while((msqid = msgget(key, 0644)) == -1){}
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if (msgrcv(msqid, &msg, msgrcv_size, 1, 0) != -1)
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{
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ttff_msg = msg.ttff;
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if( (ttff_msg != 0) && (ttff_msg != -1))
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{
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TTFF_v.push_back(ttff_msg / static_cast<double>(FLAGS_output_rate_ms * FLAGS_averaging_depth));
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LOG(INFO) << "Valid Time-To-First-Fix: " << ttff_msg / static_cast<double>(FLAGS_output_rate_ms * FLAGS_averaging_depth) << "[s]";
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// Stop the receiver
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while((msqid_stop = msgget(key_stop, 0644)) == -1){}
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double msgsend_size = sizeof(msg_stop.ttff);
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msgsnd(msqid_stop, &msg_stop, msgsend_size, IPC_NOWAIT);
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}
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if(ttff_msg != -1)
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{
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receive_msg();
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}
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}
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return;
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}
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void print_TTFF_report(const std::vector<double> & ttff_v)
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{
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std::vector<double> ttff = ttff_v;
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double sum = std::accumulate(ttff.begin(), ttff.end(), 0.0);
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double mean = sum / ttff.size();
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double sq_sum = std::inner_product(ttff.begin(), ttff.end(), ttff.begin(), 0.0);
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double stdev = std::sqrt(sq_sum / ttff.size() - mean * mean);
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auto max_ttff = std::max_element(std::begin(ttff), std::end(ttff));
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auto min_ttff = std::min_element(std::begin(ttff), std::end(ttff));
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std::cout << "---------------------------" << std::endl;
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std::cout << " Time-To-First-Fix Report" << std::endl;
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std::cout << "---------------------------" << std::endl;
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std::cout << "Valid measurements (" << ttff.size() << "/" << FLAGS_num_measurements << "): ";
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for(double ttff_ : ttff) std::cout << ttff_ << " ";
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std::cout << std::endl;
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std::cout << "TTFF mean: " << mean << " [s]" << std::endl;
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if (ttff.size() > 0)
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{
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std::cout << "TTFF max: " << *max_ttff << " [s]" << std::endl;
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std::cout << "TTFF min: " << *min_ttff << " [s]" << std::endl;
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}
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std::cout << "TTFF stdev: " << stdev << " [s]" << std::endl;
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std::cout << "---------------------------" << std::endl;
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}
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TEST(TTFF_GPS_L1_CA_Test, ColdStart)
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{
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unsigned int num_measurements = 0;
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public:
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void config_1();
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void config_2();
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std::shared_ptr<InMemoryConfiguration> config;
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config = std::make_shared<InMemoryConfiguration>();
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std::shared_ptr<FileConfiguration> config2;
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std::string path = std::string(TEST_PATH);
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std::string filename = path + "../../conf/gnss-sdr_GPS_L1_USRP_X300_realtime.conf";
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config2 = std::make_shared<FileConfiguration>(filename);
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config2->set_property("SignalSource.samples", std::to_string(FLAGS_fs_in * FLAGS_max_measurement_duration));
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double central_freq = 1575420000.0;
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double gain_dB = 40.0;
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int number_of_taps = 11;
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int number_of_bands = 2;
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float band1_begin = 0.0;
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float band1_end = 0.48;
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float band2_begin = 0.52;
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float band2_end = 1.0;
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float ampl1_begin = 1.0;
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float ampl1_end = 1.0;
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float ampl2_begin = 0.0;
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float ampl2_end = 0.0;
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float band1_error = 1.0;
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float band2_error = 1.0;
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int grid_density = 16;
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float zero = 0.0;
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int number_of_channels = 8;
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int in_acquisition = 1;
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const double central_freq = 1575420000.0;
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const double gain_dB = 40.0;
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float threshold = 0.01;
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float doppler_max = 8000.0;
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float doppler_step = 500.0;
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int max_dwells = 1;
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int tong_init_val = 2;
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int tong_max_val = 10;
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int tong_max_dwells = 30;
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int coherent_integration_time_ms = 1;
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const int number_of_taps = 11;
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const int number_of_bands = 2;
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const float band1_begin = 0.0;
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const float band1_end = 0.48;
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const float band2_begin = 0.52;
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const float band2_end = 1.0;
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const float ampl1_begin = 1.0;
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const float ampl1_end = 1.0;
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const float ampl2_begin = 0.0;
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const float ampl2_end = 0.0;
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const float band1_error = 1.0;
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const float band2_error = 1.0;
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const int grid_density = 16;
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const float zero = 0.0;
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const int number_of_channels = 8;
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const int in_acquisition = 1;
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const float threshold = 0.01;
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const float doppler_max = 8000.0;
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const float doppler_step = 500.0;
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const int max_dwells = 1;
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const int tong_init_val = 2;
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const int tong_max_val = 10;
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const int tong_max_dwells = 30;
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const int coherent_integration_time_ms = 1;
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const float pll_bw_hz = 30.0;
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const float dll_bw_hz = 4.0;
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const float early_late_space_chips = 0.5;
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const int display_rate_ms = 500;
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};
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void TTFF_GPS_L1_CA_Test::config_1()
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{
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config = std::make_shared<InMemoryConfiguration>();
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// Set the Signal Source
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config->set_property("GNSS-SDR.internal_fs_hz", std::to_string(FLAGS_fs_in));
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config->set_property("SignalSource.item_type", "cshort");
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@ -242,10 +187,9 @@ TEST(TTFF_GPS_L1_CA_Test, ColdStart)
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config->set_property("Tracking_1C.if", std::to_string(zero));
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config->set_property("Tracking_1C.dump", "false");
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config->set_property("Tracking_1C.dump_filename", "./tracking_ch_");
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config->set_property("Tracking_1C.pll_bw_hz", std::to_string(30.0));
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config->set_property("Tracking_1C.dll_bw_hz", std::to_string(4.0));
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config->set_property("Tracking_1C.order", std::to_string(3));
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config->set_property("Tracking_1C.early_late_space_chips", std::to_string(0.5));
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config->set_property("Tracking_1C.pll_bw_hz", std::to_string(pll_bw_hz));
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config->set_property("Tracking_1C.dll_bw_hz", std::to_string(dll_bw_hz));
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config->set_property("Tracking_1C.early_late_space_chips", std::to_string(early_late_space_chips));
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// Set Telemetry
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config->set_property("TelemetryDecoder_1C.implementation", "GPS_L1_CA_Telemetry_Decoder");
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@ -262,7 +206,7 @@ TEST(TTFF_GPS_L1_CA_Test, ColdStart)
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config->set_property("PVT.averaging_depth", std::to_string(FLAGS_averaging_depth));
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config->set_property("PVT.flag_averaging", "true");
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config->set_property("PVT.output_rate_ms", std::to_string(FLAGS_output_rate_ms));
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config->set_property("PVT.display_rate_ms", std::to_string(500));
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config->set_property("PVT.display_rate_ms", std::to_string(display_rate_ms));
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config->set_property("PVT.dump_filename", "./PVT");
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config->set_property("PVT.nmea_dump_filename", "./gnss_sdr_pvt.nmea");
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config->set_property("PVT.flag_nmea_tty_port", "false");
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@ -271,18 +215,99 @@ TEST(TTFF_GPS_L1_CA_Test, ColdStart)
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config->set_property("PVT.flag_rtcm_tty_port", "false");
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config->set_property("PVT.rtcm_dump_devname", "/dev/pts/1");
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config->set_property("PVT.dump", "false");
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}
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int n;
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for(n = 0; n < FLAGS_num_measurements; n++)
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void TTFF_GPS_L1_CA_Test::config_2()
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{
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std::string path = std::string(TEST_PATH);
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std::string filename = path + "../../conf/gnss-sdr_GPS_L1_USRP_X300_realtime.conf";
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config2 = std::make_shared<FileConfiguration>(filename);
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config2->set_property("SignalSource.samples", std::to_string(FLAGS_fs_in * FLAGS_max_measurement_duration));
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}
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void receive_msg()
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{
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ttff_msgbuf msg;
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ttff_msgbuf msg_stop;
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msg_stop.mtype = 1;
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msg_stop.ttff = 200;
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double ttff_msg = 0.0;
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int msgrcv_size = sizeof(msg.ttff);
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int msqid;
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int msqid_stop;
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key_t key = 1101;
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key_t key_stop = 1102;
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// wait for the queue to be created
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while((msqid = msgget(key, 0644)) == -1){}
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if (msgrcv(msqid, &msg, msgrcv_size, 1, 0) != -1)
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{
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// reset start( hot /warm / cold )
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// COLD START
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config->set_property("GNSS-SDR.SUPL_gps_enabled", "false");
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config->set_property("GNSS-SDR.SUPL_read_gps_assistance_xml", "false");
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config2->set_property("GNSS-SDR.SUPL_read_gps_assistance_xml", "false");
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config2->set_property("PVT.flag_rtcm_server", "false");
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ttff_msg = msg.ttff;
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if( (ttff_msg != 0) && (ttff_msg != -1))
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{
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TTFF_v.push_back(ttff_msg / static_cast<double>(FLAGS_output_rate_ms * FLAGS_averaging_depth));
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LOG(INFO) << "Valid Time-To-First-Fix: " << ttff_msg / static_cast<double>(FLAGS_output_rate_ms * FLAGS_averaging_depth) << "[s]";
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// Stop the receiver
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while((msqid_stop = msgget(key_stop, 0644)) == -1){}
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double msgsend_size = sizeof(msg_stop.ttff);
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msgsnd(msqid_stop, &msg_stop, msgsend_size, IPC_NOWAIT);
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}
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if(ttff_msg != -1)
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{
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receive_msg();
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}
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}
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return;
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}
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void print_TTFF_report(const std::vector<double> & ttff_v)
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{
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std::vector<double> ttff = ttff_v;
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double sum = std::accumulate(ttff.begin(), ttff.end(), 0.0);
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double mean = sum / ttff.size();
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double sq_sum = std::inner_product(ttff.begin(), ttff.end(), ttff.begin(), 0.0);
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double stdev = std::sqrt(sq_sum / ttff.size() - mean * mean);
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auto max_ttff = std::max_element(std::begin(ttff), std::end(ttff));
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auto min_ttff = std::min_element(std::begin(ttff), std::end(ttff));
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std::cout << "---------------------------" << std::endl;
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std::cout << " Time-To-First-Fix Report" << std::endl;
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std::cout << "---------------------------" << std::endl;
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std::cout << "Valid measurements (" << ttff.size() << "/" << FLAGS_num_measurements << "): ";
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for(double ttff_ : ttff) std::cout << ttff_ << " ";
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std::cout << std::endl;
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std::cout << "TTFF mean: " << mean << " [s]" << std::endl;
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if (ttff.size() > 0)
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{
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std::cout << "TTFF max: " << *max_ttff << " [s]" << std::endl;
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std::cout << "TTFF min: " << *min_ttff << " [s]" << std::endl;
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}
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std::cout << "TTFF stdev: " << stdev << " [s]" << std::endl;
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std::cout << "---------------------------" << std::endl;
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}
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TEST_F(TTFF_GPS_L1_CA_Test, ColdStart)
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{
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unsigned int num_measurements = 0;
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config_1();
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// Ensure Cold Start
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config->set_property("GNSS-SDR.SUPL_gps_enabled", "false");
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config->set_property("GNSS-SDR.SUPL_read_gps_assistance_xml", "false");
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config_2();
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// Ensure Cold Start
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config2->set_property("GNSS-SDR.SUPL_read_gps_assistance_xml", "false");
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config2->set_property("GNSS-SDR.SUPL_read_gps_assistance_xml", "false");
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config2->set_property("PVT.flag_rtcm_server", "false");
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for(int n = 0; n < FLAGS_num_measurements; n++)
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{
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// Create a new ControlThread object with a smart pointer
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std::unique_ptr<ControlThread> control_thread(new ControlThread(config));
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// record startup time
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@ -290,6 +315,8 @@ TEST(TTFF_GPS_L1_CA_Test, ColdStart)
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gettimeofday(&tv, NULL);
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long long int begin = tv.tv_sec * 1000000 + tv.tv_usec;
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std::cout << "Starting measurement " << num_measurements << std::endl;
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// start receiver
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try
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{
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@ -313,8 +340,16 @@ TEST(TTFF_GPS_L1_CA_Test, ColdStart)
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EXPECT_FALSE(flowgraph->running());
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num_measurements = num_measurements + 1;
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std::cout << "Measurement " << num_measurements << ", which took " << ttff << " seconds." << std::endl;
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std::this_thread::sleep_until(std::chrono::system_clock::now() + std::chrono::seconds(5)); // add random waiting!
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std::cout << "Just finished measurement " << num_measurements << ", which took " << ttff << " seconds." << std::endl;
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if(n < FLAGS_num_measurements - 1)
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{
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int random_variable = std::rand();
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float random_variable_0_1 = static_cast<float>(random_variable) / static_cast<float>( RAND_MAX );
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int random_delay_s = static_cast<int>(random_variable_0_1 * 25.0);
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std::cout << "Waiting a random amount of time (from 5 to 30 s) to start new measurement... " << std::endl;
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std::cout << "This time will wait " << random_delay_s + 5 << " s." << std::endl << std::endl;
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std::this_thread::sleep_until(std::chrono::system_clock::now() + std::chrono::seconds(5) + std::chrono::seconds(random_delay_s)); // add random waiting!
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}
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}
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// Print TTFF report
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