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Use Test Fixtures in the TTFF Test

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This commit is contained in:
Carles Fernandez 2016-10-02 12:48:12 +02:00
parent 886de8d539
commit 3e716df88b
1 changed files with 148 additions and 113 deletions
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261
src/tests/system-tests/ttff_gps_l1.cc
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@ -32,6 +32,7 @@
#include <ctime> #include <ctime>
#include <chrono> #include <chrono>
#include <cstdlib>
#include <numeric> #include <numeric>
#include <string> #include <string>
#include <sys/types.h> #include <sys/types.h>
@ -70,111 +71,55 @@ typedef struct {
} ttff_msgbuf; } ttff_msgbuf;
void receive_msg()
class TTFF_GPS_L1_CA_Test: public ::testing::Test
{ {
ttff_msgbuf msg; public:
ttff_msgbuf msg_stop; void config_1();
msg_stop.mtype = 1; void config_2();
msg_stop.ttff = 200;
double ttff_msg = 0.0;
int msgrcv_size = sizeof(msg.ttff);
int msqid;
int msqid_stop;
key_t key = 1101;
key_t key_stop = 1102;
// wait for the queue to be created
while((msqid = msgget(key, 0644)) == -1){}
if (msgrcv(msqid, &msg, msgrcv_size, 1, 0) != -1)
{
ttff_msg = msg.ttff;
if( (ttff_msg != 0) && (ttff_msg != -1))
{
TTFF_v.push_back(ttff_msg / static_cast<double>(FLAGS_output_rate_ms * FLAGS_averaging_depth));
LOG(INFO) << "Valid Time-To-First-Fix: " << ttff_msg / static_cast<double>(FLAGS_output_rate_ms * FLAGS_averaging_depth) << "[s]";
// Stop the receiver
while((msqid_stop = msgget(key_stop, 0644)) == -1){}
double msgsend_size = sizeof(msg_stop.ttff);
msgsnd(msqid_stop, &msg_stop, msgsend_size, IPC_NOWAIT);
}
if(ttff_msg != -1)
{
receive_msg();
}
}
return;
}
void print_TTFF_report(const std::vector<double> & ttff_v)
{
std::vector<double> ttff = ttff_v;
double sum = std::accumulate(ttff.begin(), ttff.end(), 0.0);
double mean = sum / ttff.size();
double sq_sum = std::inner_product(ttff.begin(), ttff.end(), ttff.begin(), 0.0);
double stdev = std::sqrt(sq_sum / ttff.size() - mean * mean);
auto max_ttff = std::max_element(std::begin(ttff), std::end(ttff));
auto min_ttff = std::min_element(std::begin(ttff), std::end(ttff));
std::cout << "---------------------------" << std::endl;
std::cout << " Time-To-First-Fix Report" << std::endl;
std::cout << "---------------------------" << std::endl;
std::cout << "Valid measurements (" << ttff.size() << "/" << FLAGS_num_measurements << "): ";
for(double ttff_ : ttff) std::cout << ttff_ << " ";
std::cout << std::endl;
std::cout << "TTFF mean: " << mean << " [s]" << std::endl;
if (ttff.size() > 0)
{
std::cout << "TTFF max: " << *max_ttff << " [s]" << std::endl;
std::cout << "TTFF min: " << *min_ttff << " [s]" << std::endl;
}
std::cout << "TTFF stdev: " << stdev << " [s]" << std::endl;
std::cout << "---------------------------" << std::endl;
}
TEST(TTFF_GPS_L1_CA_Test, ColdStart)
{
unsigned int num_measurements = 0;
std::shared_ptr<InMemoryConfiguration> config; std::shared_ptr<InMemoryConfiguration> config;
config = std::make_shared<InMemoryConfiguration>();
std::shared_ptr<FileConfiguration> config2; std::shared_ptr<FileConfiguration> config2;
std::string path = std::string(TEST_PATH);
std::string filename = path + "../../conf/gnss-sdr_GPS_L1_USRP_X300_realtime.conf";
config2 = std::make_shared<FileConfiguration>(filename);
config2->set_property("SignalSource.samples", std::to_string(FLAGS_fs_in * FLAGS_max_measurement_duration));
double central_freq = 1575420000.0; const double central_freq = 1575420000.0;
double gain_dB = 40.0; const double gain_dB = 40.0;
int number_of_taps = 11;
int number_of_bands = 2;
float band1_begin = 0.0;
float band1_end = 0.48;
float band2_begin = 0.52;
float band2_end = 1.0;
float ampl1_begin = 1.0;
float ampl1_end = 1.0;
float ampl2_begin = 0.0;
float ampl2_end = 0.0;
float band1_error = 1.0;
float band2_error = 1.0;
int grid_density = 16;
float zero = 0.0;
int number_of_channels = 8;
int in_acquisition = 1;
float threshold = 0.01; const int number_of_taps = 11;
float doppler_max = 8000.0; const int number_of_bands = 2;
float doppler_step = 500.0; const float band1_begin = 0.0;
int max_dwells = 1; const float band1_end = 0.48;
int tong_init_val = 2; const float band2_begin = 0.52;
int tong_max_val = 10; const float band2_end = 1.0;
int tong_max_dwells = 30; const float ampl1_begin = 1.0;
int coherent_integration_time_ms = 1; const float ampl1_end = 1.0;
const float ampl2_begin = 0.0;
const float ampl2_end = 0.0;
const float band1_error = 1.0;
const float band2_error = 1.0;
const int grid_density = 16;
const float zero = 0.0;
const int number_of_channels = 8;
const int in_acquisition = 1;
const float threshold = 0.01;
const float doppler_max = 8000.0;
const float doppler_step = 500.0;
const int max_dwells = 1;
const int tong_init_val = 2;
const int tong_max_val = 10;
const int tong_max_dwells = 30;
const int coherent_integration_time_ms = 1;
const float pll_bw_hz = 30.0;
const float dll_bw_hz = 4.0;
const float early_late_space_chips = 0.5;
const int display_rate_ms = 500;
};
void TTFF_GPS_L1_CA_Test::config_1()
{
config = std::make_shared<InMemoryConfiguration>();
// Set the Signal Source // Set the Signal Source
config->set_property("GNSS-SDR.internal_fs_hz", std::to_string(FLAGS_fs_in)); config->set_property("GNSS-SDR.internal_fs_hz", std::to_string(FLAGS_fs_in));
config->set_property("SignalSource.item_type", "cshort"); config->set_property("SignalSource.item_type", "cshort");
@ -242,10 +187,9 @@ TEST(TTFF_GPS_L1_CA_Test, ColdStart)
config->set_property("Tracking_1C.if", std::to_string(zero)); config->set_property("Tracking_1C.if", std::to_string(zero));
config->set_property("Tracking_1C.dump", "false"); config->set_property("Tracking_1C.dump", "false");
config->set_property("Tracking_1C.dump_filename", "./tracking_ch_"); config->set_property("Tracking_1C.dump_filename", "./tracking_ch_");
config->set_property("Tracking_1C.pll_bw_hz", std::to_string(30.0)); config->set_property("Tracking_1C.pll_bw_hz", std::to_string(pll_bw_hz));
config->set_property("Tracking_1C.dll_bw_hz", std::to_string(4.0)); config->set_property("Tracking_1C.dll_bw_hz", std::to_string(dll_bw_hz));
config->set_property("Tracking_1C.order", std::to_string(3)); config->set_property("Tracking_1C.early_late_space_chips", std::to_string(early_late_space_chips));
config->set_property("Tracking_1C.early_late_space_chips", std::to_string(0.5));
// Set Telemetry // Set Telemetry
config->set_property("TelemetryDecoder_1C.implementation", "GPS_L1_CA_Telemetry_Decoder"); config->set_property("TelemetryDecoder_1C.implementation", "GPS_L1_CA_Telemetry_Decoder");
@ -262,7 +206,7 @@ TEST(TTFF_GPS_L1_CA_Test, ColdStart)
config->set_property("PVT.averaging_depth", std::to_string(FLAGS_averaging_depth)); config->set_property("PVT.averaging_depth", std::to_string(FLAGS_averaging_depth));
config->set_property("PVT.flag_averaging", "true"); config->set_property("PVT.flag_averaging", "true");
config->set_property("PVT.output_rate_ms", std::to_string(FLAGS_output_rate_ms)); config->set_property("PVT.output_rate_ms", std::to_string(FLAGS_output_rate_ms));
config->set_property("PVT.display_rate_ms", std::to_string(500)); config->set_property("PVT.display_rate_ms", std::to_string(display_rate_ms));
config->set_property("PVT.dump_filename", "./PVT"); config->set_property("PVT.dump_filename", "./PVT");
config->set_property("PVT.nmea_dump_filename", "./gnss_sdr_pvt.nmea"); config->set_property("PVT.nmea_dump_filename", "./gnss_sdr_pvt.nmea");
config->set_property("PVT.flag_nmea_tty_port", "false"); config->set_property("PVT.flag_nmea_tty_port", "false");
@ -271,18 +215,99 @@ TEST(TTFF_GPS_L1_CA_Test, ColdStart)
config->set_property("PVT.flag_rtcm_tty_port", "false"); config->set_property("PVT.flag_rtcm_tty_port", "false");
config->set_property("PVT.rtcm_dump_devname", "/dev/pts/1"); config->set_property("PVT.rtcm_dump_devname", "/dev/pts/1");
config->set_property("PVT.dump", "false"); config->set_property("PVT.dump", "false");
}
int n; void TTFF_GPS_L1_CA_Test::config_2()
for(n = 0; n < FLAGS_num_measurements; n++) {
std::string path = std::string(TEST_PATH);
std::string filename = path + "../../conf/gnss-sdr_GPS_L1_USRP_X300_realtime.conf";
config2 = std::make_shared<FileConfiguration>(filename);
config2->set_property("SignalSource.samples", std::to_string(FLAGS_fs_in * FLAGS_max_measurement_duration));
}
void receive_msg()
{
ttff_msgbuf msg;
ttff_msgbuf msg_stop;
msg_stop.mtype = 1;
msg_stop.ttff = 200;
double ttff_msg = 0.0;
int msgrcv_size = sizeof(msg.ttff);
int msqid;
int msqid_stop;
key_t key = 1101;
key_t key_stop = 1102;
// wait for the queue to be created
while((msqid = msgget(key, 0644)) == -1){}
if (msgrcv(msqid, &msg, msgrcv_size, 1, 0) != -1)
{ {
// reset start( hot /warm / cold ) ttff_msg = msg.ttff;
// COLD START if( (ttff_msg != 0) && (ttff_msg != -1))
config->set_property("GNSS-SDR.SUPL_gps_enabled", "false"); {
config->set_property("GNSS-SDR.SUPL_read_gps_assistance_xml", "false"); TTFF_v.push_back(ttff_msg / static_cast<double>(FLAGS_output_rate_ms * FLAGS_averaging_depth));
config2->set_property("GNSS-SDR.SUPL_read_gps_assistance_xml", "false"); LOG(INFO) << "Valid Time-To-First-Fix: " << ttff_msg / static_cast<double>(FLAGS_output_rate_ms * FLAGS_averaging_depth) << "[s]";
config2->set_property("PVT.flag_rtcm_server", "false"); // Stop the receiver
while((msqid_stop = msgget(key_stop, 0644)) == -1){}
double msgsend_size = sizeof(msg_stop.ttff);
msgsnd(msqid_stop, &msg_stop, msgsend_size, IPC_NOWAIT);
}
if(ttff_msg != -1)
{
receive_msg();
}
}
return;
}
void print_TTFF_report(const std::vector<double> & ttff_v)
{
std::vector<double> ttff = ttff_v;
double sum = std::accumulate(ttff.begin(), ttff.end(), 0.0);
double mean = sum / ttff.size();
double sq_sum = std::inner_product(ttff.begin(), ttff.end(), ttff.begin(), 0.0);
double stdev = std::sqrt(sq_sum / ttff.size() - mean * mean);
auto max_ttff = std::max_element(std::begin(ttff), std::end(ttff));
auto min_ttff = std::min_element(std::begin(ttff), std::end(ttff));
std::cout << "---------------------------" << std::endl;
std::cout << " Time-To-First-Fix Report" << std::endl;
std::cout << "---------------------------" << std::endl;
std::cout << "Valid measurements (" << ttff.size() << "/" << FLAGS_num_measurements << "): ";
for(double ttff_ : ttff) std::cout << ttff_ << " ";
std::cout << std::endl;
std::cout << "TTFF mean: " << mean << " [s]" << std::endl;
if (ttff.size() > 0)
{
std::cout << "TTFF max: " << *max_ttff << " [s]" << std::endl;
std::cout << "TTFF min: " << *min_ttff << " [s]" << std::endl;
}
std::cout << "TTFF stdev: " << stdev << " [s]" << std::endl;
std::cout << "---------------------------" << std::endl;
}
TEST_F(TTFF_GPS_L1_CA_Test, ColdStart)
{
unsigned int num_measurements = 0;
config_1();
// Ensure Cold Start
config->set_property("GNSS-SDR.SUPL_gps_enabled", "false");
config->set_property("GNSS-SDR.SUPL_read_gps_assistance_xml", "false");
config_2();
// Ensure Cold Start
config2->set_property("GNSS-SDR.SUPL_read_gps_assistance_xml", "false");
config2->set_property("GNSS-SDR.SUPL_read_gps_assistance_xml", "false");
config2->set_property("PVT.flag_rtcm_server", "false");
for(int n = 0; n < FLAGS_num_measurements; n++)
{
// Create a new ControlThread object with a smart pointer
std::unique_ptr<ControlThread> control_thread(new ControlThread(config)); std::unique_ptr<ControlThread> control_thread(new ControlThread(config));
// record startup time // record startup time
@ -290,6 +315,8 @@ TEST(TTFF_GPS_L1_CA_Test, ColdStart)
gettimeofday(&tv, NULL); gettimeofday(&tv, NULL);
long long int begin = tv.tv_sec * 1000000 + tv.tv_usec; long long int begin = tv.tv_sec * 1000000 + tv.tv_usec;
std::cout << "Starting measurement " << num_measurements << std::endl;
// start receiver // start receiver
try try
{ {
@ -313,8 +340,16 @@ TEST(TTFF_GPS_L1_CA_Test, ColdStart)
EXPECT_FALSE(flowgraph->running()); EXPECT_FALSE(flowgraph->running());
num_measurements = num_measurements + 1; num_measurements = num_measurements + 1;
std::cout << "Measurement " << num_measurements << ", which took " << ttff << " seconds." << std::endl; std::cout << "Just finished measurement " << num_measurements << ", which took " << ttff << " seconds." << std::endl;
std::this_thread::sleep_until(std::chrono::system_clock::now() + std::chrono::seconds(5)); // add random waiting! if(n < FLAGS_num_measurements - 1)
{
int random_variable = std::rand();
float random_variable_0_1 = static_cast<float>(random_variable) / static_cast<float>( RAND_MAX );
int random_delay_s = static_cast<int>(random_variable_0_1 * 25.0);
std::cout << "Waiting a random amount of time (from 5 to 30 s) to start new measurement... " << std::endl;
std::cout << "This time will wait " << random_delay_s + 5 << " s." << std::endl << std::endl;
std::this_thread::sleep_until(std::chrono::system_clock::now() + std::chrono::seconds(5) + std::chrono::seconds(random_delay_s)); // add random waiting!
}
} }
// Print TTFF report // Print TTFF report