Fix bug in NMEA messages. Fixes #45

Add a new test for the NMEA printer

src/algorithms/PVT/libs/nmea_printer.cc

@@ -236,9 +236,10 @@ std::string Nmea_Printer::latitude_to_hm(double lat)
     out_string.fill('0');
     out_string.width(2);
     out_string << deg;
-    out_string.width(6);
+    out_string.width(2);
-    out_string.precision(4);
+    out_string << static_cast<int>(mins) << ".";
-    out_string << mins;
+    out_string.width(4);
+    out_string << static_cast<int>((mins - static_cast<double>(static_cast<int>(mins))) * 1e4);
 
     if (north == true)
         {
@@ -273,9 +274,10 @@ std::string Nmea_Printer::longitude_to_hm(double longitude)
     out_string.width(3);
     out_string.fill('0');
     out_string << deg;
-    out_string.width(6);
+    out_string.width(2);
-    out_string.precision(4);
+    out_string << static_cast<int>(mins) << ".";
-    out_string << mins;
+    out_string.width(4);
+    out_string << static_cast<int>((mins - static_cast<double>(static_cast<int>(mins))) * 1e4);
 
     if (east == true)
         {

src/algorithms/PVT/libs/pvt_solution.cc

@@ -619,6 +619,9 @@ void Pvt_Solution::set_valid_position(bool is_valid)
 void Pvt_Solution::set_rx_pos(const arma::vec & pos)
 {
     d_rx_pos = pos;
+    d_latitude_d = d_rx_pos(0);
+    d_longitude_d = d_rx_pos(1);
+    d_height_m = d_rx_pos(2);
 }
 
 

src/algorithms/PVT/libs/pvt_solution.h

@@ -77,7 +77,7 @@ private:
     double d_VDOP;
     double d_TDOP;
 
-    int d_visible_satellites_IDs[PVT_MAX_CHANNELS] = {};        // Array with the IDs of the valid satellites
+    int d_visible_satellites_IDs[PVT_MAX_CHANNELS] = {};         // Array with the IDs of the valid satellites
     double d_visible_satellites_El[PVT_MAX_CHANNELS] = {};       // Array with the LOS Elevation of the valid satellites
     double d_visible_satellites_Az[PVT_MAX_CHANNELS] = {};       // Array with the LOS Azimuth of the valid satellites
     double d_visible_satellites_Distance[PVT_MAX_CHANNELS] = {}; // Array with the LOS Distance of the valid satellites
@@ -86,18 +86,18 @@ private:
 public:
     Pvt_Solution();
 
-    double get_time_offset_s() const;      //!< Get RX time offset [s]
+    double get_time_offset_s() const;       //!< Get RX time offset [s]
-    void set_time_offset_s(double offset); //!< Set RX time offset [s]
+    void set_time_offset_s(double offset);  //!< Set RX time offset [s]
 
-    double get_latitude() const;           //!< Get RX position Latitude WGS84 [deg]
+    double get_latitude() const;            //!< Get RX position Latitude WGS84 [deg]
-    double get_longitude() const;          //!< Get RX position Longitude WGS84 [deg]
+    double get_longitude() const;           //!< Get RX position Longitude WGS84 [deg]
-    double get_height() const;             //!< Get RX position height WGS84 [m]
+    double get_height() const;              //!< Get RX position height WGS84 [m]
 
-    double get_avg_latitude() const;       //!< Get RX position averaged Latitude WGS84 [deg]
+    double get_avg_latitude() const;        //!< Get RX position averaged Latitude WGS84 [deg]
-    double get_avg_longitude() const;      //!< Get RX position averaged Longitude WGS84 [deg]
+    double get_avg_longitude() const;       //!< Get RX position averaged Longitude WGS84 [deg]
-    double get_avg_height() const;         //!< Get RX position averaged height WGS84 [m]
+    double get_avg_height() const;          //!< Get RX position averaged height WGS84 [m]
 
-    void set_rx_pos(const arma::vec & pos);
+    void set_rx_pos(const arma::vec & pos); //!< Set position: Latitude [deg], longitude [deg], height [m]
     arma::vec get_rx_pos() const;
 
     bool is_valid_position() const;

src/tests/test_main.cc

@@ -123,6 +123,7 @@ DECLARE_string(log_dir);
 #include "unit-tests/signal-processing-blocks/pvt/rtcm_test.cc"
 #include "unit-tests/signal-processing-blocks/pvt/rtcm_printer_test.cc"
 #include "unit-tests/signal-processing-blocks/pvt/rinex_printer_test.cc"
+#include "unit-tests/signal-processing-blocks/pvt/nmea_printer_test.cc"
 
 #if EXTRA_TESTS
 #include "unit-tests/signal-processing-blocks/acquisition/gps_l2_m_pcps_acquisition_test.cc"

src/tests/unit-tests/signal-processing-blocks/pvt/nmea_printer_test.cc

@@ -0,0 +1,115 @@
+/*!
+ * \file nma_printer_test.cc
+ * \brief Implements Unit Tests for the Nmea_Printer class.
+ * \author Carles Fernandez-Prades, 2017. cfernandez(at)cttc.es
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2016  (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 <cstdio>
+#include <iostream>
+#include <fstream>
+#include <string>
+#include "nmea_printer.h"
+
+
+TEST(NmeaPrinterTest, PrintLine)
+{
+    std::string filename("nmea_test.nmea");
+
+    std::shared_ptr<Pvt_Solution> pvt_solution = std::make_shared<Pvt_Solution>();
+
+    boost::posix_time::ptime pt(boost::gregorian::date(1994, boost::date_time::Nov, 19),
+            boost::posix_time::hours(22) + boost::posix_time::minutes(54) + boost::posix_time::seconds(46)); // example from http://aprs.gids.nl/nmea/#rmc
+    pvt_solution->set_position_UTC_time(pt);
+
+    arma::vec pos = {49.27416667, -123.18533333, 0};
+    pvt_solution->set_rx_pos(pos);
+
+    pvt_solution->set_valid_position(true);
+
+    ASSERT_NO_THROW( {
+        std::shared_ptr<Nmea_Printer> nmea_printer = std::make_shared<Nmea_Printer>(filename, false, "");
+        nmea_printer->Print_Nmea_Line(pvt_solution, false);
+    } ) << "Failure printing NMEA messages.";
+
+    std::ifstream test_file(filename);
+    std::string line;
+    std::string GPRMC("$GPRMC");
+    if(test_file.is_open())
+        {
+            while(getline (test_file,line))
+                {
+                    std::size_t found = line.find(GPRMC);
+                    if (found != std::string::npos)
+                        {
+                            EXPECT_EQ(line, "$GPRMC,225446.000,A,4916.4500,N,12311.1199,W,0.00,0.00,191194,,*1c\r");
+                        }
+                }
+            test_file.close();
+        }
+    EXPECT_EQ(0, remove(filename.c_str())) << "Failure deleting a temporary file.";
+}
+
+
+
+TEST(NmeaPrinterTest, PrintLineLessthan10min)
+{
+    std::string filename("nmea_test.nmea");
+
+    std::shared_ptr<Pvt_Solution> pvt_solution = std::make_shared<Pvt_Solution>();
+
+    boost::posix_time::ptime pt(boost::gregorian::date(1994, boost::date_time::Nov, 19),
+            boost::posix_time::hours(22) + boost::posix_time::minutes(54) + boost::posix_time::seconds(46)); // example from http://aprs.gids.nl/nmea/#rmc
+    pvt_solution->set_position_UTC_time(pt);
+
+    arma::vec pos = {49.07416667, -123.02527778, 0};
+    pvt_solution->set_rx_pos(pos);
+
+    pvt_solution->set_valid_position(true);
+
+    ASSERT_NO_THROW( {
+        std::shared_ptr<Nmea_Printer> nmea_printer = std::make_shared<Nmea_Printer>(filename, false, "");
+        nmea_printer->Print_Nmea_Line(pvt_solution, false);
+    } ) << "Failure printing NMEA messages.";
+
+    std::ifstream test_file(filename);
+    std::string line;
+    std::string GPRMC("$GPRMC");
+    if(test_file.is_open())
+        {
+            while(getline (test_file,line))
+                {
+                    std::size_t found = line.find(GPRMC);
+                    if (found != std::string::npos)
+                        {
+                            EXPECT_EQ(line, "$GPRMC,225446.000,A,4904.4500,N,12301.5166,W,0.00,0.00,191194,,*1a\r");
+                        }
+                }
+            test_file.close();
+        }
+    EXPECT_EQ(0, remove(filename.c_str())) << "Failure deleting a temporary file.";
+}