Merge branch 'next' of https://github.com/gnss-sdr/gnss-sdr into next

src/algorithms/PVT/libs/gpx_printer.cc

@@ -138,13 +138,15 @@ bool Gpx_Printer::set_headers(std::string filename, bool time_tag_name)
             gpx_file << std::setprecision(14);
             gpx_file << "<?xml version=\"1.0\" encoding=\"UTF-8\"?>" << std::endl
                      << "<gpx version=\"1.1\" creator=\"GNSS-SDR\"" << std::endl
-                     << "xsi:schemaLocation=\"http://www.topografix.com/GPX/1/1 http://www.topografix.com/GPX/1/1/gpx.xsd\"" << std::endl
+                     << indent << "xsi:schemaLocation=\"http://www.topografix.com/GPX/1/1 http://www.topografix.com/GPX/1/1/gpx.xsd http://www.garmin.com/xmlschemas/GpxExtensions/v3 http://www.garmin.com/xmlschemas/GpxExtensionsv3.xsd http://www.garmin.com/xmlschemas/TrackPointExtension/v2 http://www.garmin.com/xmlschemas/TrackPointExtensionv2.xsd\"" << std::endl
-                     << "xmlns=\"http://www.topografix.com/GPX/1/1\"" << std::endl
+                     << indent << "xmlns=\"http://www.topografix.com/GPX/1/1\"" << std::endl
-                     << "xmlns:xsi=\"http://www.w3.org/2001/XMLSchema-instance\">" << std::endl
+                     << indent << "xmlns:gpxx=\"http://www.garmin.com/xmlschemas/GpxExtensions/v3\"" << std::endl
-                     << "<trk>" << std::endl
+                     << indent << "xmlns:gpxtpx=\"http://www.garmin.com/xmlschemas/TrackPointExtension/v2\"" << std::endl
-                     << indent << "<name>Position fixes computed by GNSS-SDR v" << GNSS_SDR_VERSION << "</name>" << std::endl
+                     << indent << "xmlns:xsi=\"http://www.w3.org/2001/XMLSchema-instance\">" << std::endl
-                     << indent << "<desc>GNSS-SDR position log generated at " << pt << " (local time)</desc>" << std::endl
+                     << indent << "<trk>" << std::endl
-                     << indent << "<trkseg>" << std::endl;
+                     << indent << indent << "<name>Position fixes computed by GNSS-SDR v" << GNSS_SDR_VERSION << "</name>" << std::endl
+                     << indent << indent << "<desc>GNSS-SDR position log generated at " << pt << " (local time)</desc>" << std::endl
+                     << indent << indent << "<trkseg>" << std::endl;
             return true;
         }
     else
@@ -164,6 +166,9 @@ bool Gpx_Printer::print_position(const std::shared_ptr<rtklib_solver>& position,
     positions_printed = true;
     std::shared_ptr<rtklib_solver> position_ = position;
 
+    double speed_over_ground = position_->get_speed_over_ground();    // expressed in m/s
+    double course_over_ground = position_->get_course_over_ground();  // expressed in deg
+
     double hdop = position_->get_hdop();
     double vdop = position_->get_vdop();
     double pdop = position_->get_pdop();
@@ -187,9 +192,13 @@ bool Gpx_Printer::print_position(const std::shared_ptr<rtklib_solver>& position,
 
     if (gpx_file.is_open())
         {
-            gpx_file << indent << indent << "<trkpt lon=\"" << longitude << "\" lat=\"" << latitude << "\"><ele>" << height << "</ele>"
+            gpx_file << indent << indent << indent << "<trkpt lon=\"" << longitude << "\" lat=\"" << latitude << "\"><ele>" << height << "</ele>"
                      << "<time>" << utc_time << "</time>"
-                     << "<hdop>" << hdop << "</hdop><vdop>" << vdop << "</vdop><pdop>" << pdop << "</pdop></trkpt>" << std::endl;
+                     << "<hdop>" << hdop << "</hdop><vdop>" << vdop << "</vdop><pdop>" << pdop << "</pdop>"
+                     << "<extensions><gpxtpx:TrackPointExtension>"
+                     << "<gpxtpx:speed>" << speed_over_ground << "</gpxtpx:speed>"
+                     << "<gpxtpx:course>" << course_over_ground << "</gpxtpx:course>"
+                     << "</gpxtpx:TrackPointExtension></extensions></trkpt>" << std::endl;
             return true;
         }
     else
@@ -203,8 +212,8 @@ bool Gpx_Printer::close_file()
 {
     if (gpx_file.is_open())
         {
-            gpx_file << indent << "</trkseg>" << std::endl
+            gpx_file << indent << indent << "</trkseg>" << std::endl
-                     << "</trk>" << std::endl
+                     << indent << "</trk>" << std::endl
                      << "</gpx>";
             gpx_file.close();
             return true;

src/algorithms/PVT/libs/kml_printer.cc

@@ -2,6 +2,7 @@
  * \file kml_printer.cc
  * \brief Implementation of a class that prints PVT information to a kml file
  * \author Javier Arribas, 2011. jarribas(at)cttc.es
+ *         Álvaro Cebrián Juan, 2018. acebrianjuan(at)gmail.com
  *
  *
  * -------------------------------------------------------------------------
@@ -43,6 +44,7 @@ using google::LogMessage;
 Kml_Printer::Kml_Printer(const std::string& base_path)
 {
     positions_printed = false;
+    indent = "  ";
     kml_base_path = base_path;
     boost::filesystem::path full_path(boost::filesystem::current_path());
     const boost::filesystem::path p(kml_base_path);
@@ -74,6 +76,14 @@ Kml_Printer::Kml_Printer(const std::string& base_path)
         }
 
     kml_base_path = kml_base_path + boost::filesystem::path::preferred_separator;
+
+    boost::filesystem::path tmp_base_path = boost::filesystem::temp_directory_path();
+    boost::filesystem::path tmp_filename = boost::filesystem::unique_path();
+    boost::filesystem::path tmp_file = tmp_base_path / tmp_filename;
+
+    tmp_file_str = tmp_file.string();
+
+    point_id = 0;
 }
 
 
@@ -127,36 +137,73 @@ bool Kml_Printer::set_headers(std::string filename, bool time_tag_name)
     kml_filename = kml_base_path + kml_filename;
     kml_file.open(kml_filename.c_str());
 
-    if (kml_file.is_open())
+    tmp_file.open(tmp_file_str.c_str());
+
+    if (kml_file.is_open() && tmp_file.is_open())
         {
             DLOG(INFO) << "KML printer writing on " << filename.c_str();
             // Set iostream numeric format and precision
             kml_file.setf(kml_file.fixed, kml_file.floatfield);
             kml_file << std::setprecision(14);
+
+            tmp_file.setf(tmp_file.fixed, tmp_file.floatfield);
+            tmp_file << std::setprecision(14);
+
             kml_file << "<?xml version=\"1.0\" encoding=\"UTF-8\"?>" << std::endl
-                     << "<kml xmlns=\"http://www.opengis.net/kml/2.2\">" << std::endl
+                     << "<kml xmlns=\"http://www.opengis.net/kml/2.2\" xmlns:gx=\"http://www.google.com/kml/ext/2.2\">" << std::endl
-                     << "    <Document>" << std::endl
+                     << indent << "<Document>" << std::endl
-                     << "    <name>GNSS Track</name>" << std::endl
+                     << indent << indent << "<name>GNSS Track</name>" << std::endl
-                     << "    <description>GNSS-SDR Receiver position log file created at " << pt
+                     << indent << indent << "<description><![CDATA[" << std::endl
-                     << "    </description>" << std::endl
+                     << indent << indent << indent << "<table>" << std::endl
-                     << "<Style id=\"yellowLineGreenPoly\">" << std::endl
+                     << indent << indent << indent << indent << "<tr><td>GNSS-SDR Receiver position log file created at " << pt << "</td></tr>" << std::endl
-                     << " <LineStyle>" << std::endl
+                     << indent << indent << indent << indent << "<tr><td>https://gnss-sdr.org/</td></tr>" << std::endl
-                     << "     <color>7f00ffff</color>" << std::endl
+                     << indent << indent << indent << "</table>" << std::endl
-                     << "        <width>1</width>" << std::endl
+                     << indent << indent << "]]></description>" << std::endl
-                     << "    </LineStyle>" << std::endl
+                     << indent << indent << "<!-- Normal track style -->" << std::endl
-                     << "<PolyStyle>" << std::endl
+                     << indent << indent << "<Style id=\"track_n\">" << std::endl
-                     << "    <color>7f00ff00</color>" << std::endl
+                     << indent << indent << indent << "<IconStyle>" << std::endl
-                     << "</PolyStyle>" << std::endl
+                     << indent << indent << indent << indent << "<color>ff00ffff</color>" << std::endl
-                     << "</Style>" << std::endl
+                     << indent << indent << indent << indent << "<scale>0.3</scale>" << std::endl
-                     << "<Placemark>" << std::endl
+                     << indent << indent << indent << indent << "<Icon>" << std::endl
-                     << "<name>GNSS-SDR PVT</name>" << std::endl
+                     << indent << indent << indent << indent << indent << "<href>http://maps.google.com/mapfiles/kml/shapes/shaded_dot.png</href>" << std::endl
-                     << "<description>GNSS-SDR position log</description>" << std::endl
+                     << indent << indent << indent << indent << "</Icon>" << std::endl
-                     << "<styleUrl>#yellowLineGreenPoly</styleUrl>" << std::endl
+                     << indent << indent << indent << "</IconStyle>" << std::endl
-                     << "<LineString>" << std::endl
+                     << indent << indent << indent << "<LabelStyle>" << std::endl
-                     << "<extrude>0</extrude>" << std::endl
+                     << indent << indent << indent << indent << "<scale>0</scale>" << std::endl
-                     << "<tessellate>1</tessellate>" << std::endl
+                     << indent << indent << indent << "</LabelStyle>" << std::endl
-                     << "<altitudeMode>absolute</altitudeMode>" << std::endl
+                     << indent << indent << "</Style>" << std::endl
-                     << "<coordinates>" << std::endl;
+                     << indent << indent << "<!-- Highlighted track style -->" << std::endl
+                     << indent << indent << "<Style id=\"track_h\">" << std::endl
+                     << indent << indent << indent << "<IconStyle>" << std::endl
+                     << indent << indent << indent << indent << "<color>ff00ffff</color>" << std::endl
+                     << indent << indent << indent << indent << "<scale>1</scale>" << std::endl
+                     << indent << indent << indent << indent << "<Icon>" << std::endl
+                     << indent << indent << indent << indent << indent << "<href>http://maps.google.com/mapfiles/kml/shapes/shaded_dot.png</href>" << std::endl
+                     << indent << indent << indent << indent << "</Icon>" << std::endl
+                     << indent << indent << indent << "</IconStyle>" << std::endl
+                     << indent << indent << "</Style>" << std::endl
+                     << indent << indent << "<StyleMap id=\"track\">" << std::endl
+                     << indent << indent << indent << "<Pair>" << std::endl
+                     << indent << indent << indent << indent << "<key>normal</key>" << std::endl
+                     << indent << indent << indent << indent << "<styleUrl>#track_n</styleUrl>" << std::endl
+                     << indent << indent << indent << "</Pair>" << std::endl
+                     << indent << indent << indent << "<Pair>" << std::endl
+                     << indent << indent << indent << indent << "<key>highlight</key>" << std::endl
+                     << indent << indent << indent << indent << "<styleUrl>#track_h</styleUrl>" << std::endl
+                     << indent << indent << indent << "</Pair>" << std::endl
+                     << indent << indent << "</StyleMap>" << std::endl
+                     << indent << indent << "<Style id=\"yellowLineGreenPoly\">" << std::endl
+                     << indent << indent << indent << "<LineStyle>" << std::endl
+                     << indent << indent << indent << indent << "<color>7f00ffff</color>" << std::endl
+                     << indent << indent << indent << indent << "<width>1</width>" << std::endl
+                     << indent << indent << indent << "</LineStyle>" << std::endl
+                     << indent << indent << indent << "<PolyStyle>" << std::endl
+                     << indent << indent << indent << indent << "<color>7f00ff00</color>" << std::endl
+                     << indent << indent << indent << "</PolyStyle>" << std::endl
+                     << indent << indent << "</Style>" << std::endl
+                     << indent << indent << "<Folder>" << std::endl
+                     << indent << indent << indent << "<name>Points</name>" << std::endl;
+
             return true;
         }
     else
@@ -167,7 +214,7 @@ bool Kml_Printer::set_headers(std::string filename, bool time_tag_name)
 }
 
 
-bool Kml_Printer::print_position(const std::shared_ptr<Pvt_Solution>& position, bool print_average_values)
+bool Kml_Printer::print_position(const std::shared_ptr<rtklib_solver>& position, bool print_average_values)
 {
     double latitude;
     double longitude;
@@ -175,7 +222,18 @@ bool Kml_Printer::print_position(const std::shared_ptr<Pvt_Solution>& position,
 
     positions_printed = true;
 
-    std::shared_ptr<Pvt_Solution> position_ = position;
+    std::shared_ptr<rtklib_solver> position_ = position;
+
+    double speed_over_ground = position_->get_speed_over_ground();    // expressed in m/s
+    double course_over_ground = position_->get_course_over_ground();  // expressed in deg
+
+    double hdop = position_->get_hdop();
+    double vdop = position_->get_vdop();
+    double pdop = position_->get_pdop();
+    std::string utc_time = to_iso_extended_string(position_->get_position_UTC_time());
+    if (utc_time.length() < 23) utc_time += ".";
+    utc_time.resize(23, '0');  // time up to ms
+    utc_time.append("Z");      // UTC time zone
 
     if (print_average_values == false)
         {
@@ -190,9 +248,38 @@ bool Kml_Printer::print_position(const std::shared_ptr<Pvt_Solution>& position,
             height = position_->get_avg_height();
         }
 
-    if (kml_file.is_open())
+    if (kml_file.is_open() && tmp_file.is_open())
         {
-            kml_file << longitude << "," << latitude << "," << height << std::endl;
+            point_id++;
+            kml_file << indent << indent << indent << "<Placemark>" << std::endl
+                     << indent << indent << indent << indent << "<name>" << point_id << "</name>" << std::endl
+                     << indent << indent << indent << indent << "<snippet/>" << std::endl
+                     << indent << indent << indent << indent << "<description><![CDATA[" << std::endl
+                     << indent << indent << indent << indent << indent << "<table>" << std::endl
+                     << indent << indent << indent << indent << indent << indent << "<tr><td>Time:</td><td>" << utc_time << "</td></tr>" << std::endl
+                     << indent << indent << indent << indent << indent << indent << "<tr><td>Longitude:</td><td>" << longitude << "</td><td>deg</td></tr>" << std::endl
+                     << indent << indent << indent << indent << indent << indent << "<tr><td>Latitude:</td><td>" << latitude << "</td><td>deg</td></tr>" << std::endl
+                     << indent << indent << indent << indent << indent << indent << "<tr><td>Altitude:</td><td>" << height << "</td><td>m</td></tr>" << std::endl
+                     << indent << indent << indent << indent << indent << indent << "<tr><td>Speed:</td><td>" << speed_over_ground << "</td><td>m/s</td></tr>" << std::endl
+                     << indent << indent << indent << indent << indent << indent << "<tr><td>Course:</td><td>" << course_over_ground << "</td><td>deg</td></tr>" << std::endl
+                     << indent << indent << indent << indent << indent << indent << "<tr><td>HDOP:</td><td>" << hdop << "</td></tr>" << std::endl
+                     << indent << indent << indent << indent << indent << indent << "<tr><td>VDOP:</td><td>" << vdop << "</td></tr>" << std::endl
+                     << indent << indent << indent << indent << indent << indent << "<tr><td>PDOP:</td><td>" << pdop << "</td></tr>" << std::endl
+                     << indent << indent << indent << indent << indent << "</table>" << std::endl
+                     << indent << indent << indent << indent << "]]></description>" << std::endl
+                     << indent << indent << indent << indent << "<TimeStamp>" << std::endl
+                     << indent << indent << indent << indent << indent << "<when>" << utc_time << "</when>" << std::endl
+                     << indent << indent << indent << indent << "</TimeStamp>" << std::endl
+                     << indent << indent << indent << indent << "<styleUrl>#track</styleUrl>" << std::endl
+                     << indent << indent << indent << indent << "<Point>" << std::endl
+                     << indent << indent << indent << indent << indent << "<altitudeMode>absolute</altitudeMode>" << std::endl
+                     << indent << indent << indent << indent << indent << "<coordinates>" << longitude << "," << latitude << "," << height << "</coordinates>" << std::endl
+                     << indent << indent << indent << indent << "</Point>" << std::endl
+                     << indent << indent << indent << "</Placemark>" << std::endl;
+
+            tmp_file << indent << indent << indent << indent << indent
+                     << longitude << "," << latitude << "," << height << std::endl;
+
             return true;
         }
     else
@@ -204,14 +291,32 @@ bool Kml_Printer::print_position(const std::shared_ptr<Pvt_Solution>& position,
 
 bool Kml_Printer::close_file()
 {
-    if (kml_file.is_open())
+    if (kml_file.is_open() && tmp_file.is_open())
         {
-            kml_file << "</coordinates>" << std::endl
+            tmp_file.close();
-                     << "</LineString>" << std::endl
+
-                     << "</Placemark>" << std::endl
+            kml_file << indent << indent << "</Folder>"
-                     << "</Document>" << std::endl
+                     << indent << indent << "<Placemark>" << std::endl
+                     << indent << indent << indent << "<name>Path</name>" << std::endl
+                     << indent << indent << indent << "<styleUrl>#yellowLineGreenPoly</styleUrl>" << std::endl
+                     << indent << indent << indent << "<LineString>" << std::endl
+                     << indent << indent << indent << indent << "<extrude>0</extrude>" << std::endl
+                     << indent << indent << indent << indent << "<tessellate>1</tessellate>" << std::endl
+                     << indent << indent << indent << indent << "<altitudeMode>absolute</altitudeMode>" << std::endl
+                     << indent << indent << indent << indent << "<coordinates>" << std::endl;
+
+            // Copy the contents of tmp_file into kml_file
+            std::ifstream src(tmp_file_str, std::ios::binary);
+            kml_file << src.rdbuf();
+
+            kml_file << indent << indent << indent << indent << "</coordinates>" << std::endl
+                     << indent << indent << indent << "</LineString>" << std::endl
+                     << indent << indent << "</Placemark>" << std::endl
+                     << indent << "</Document>" << std::endl
                      << "</kml>";
+
             kml_file.close();
+
             return true;
         }
     else

src/algorithms/PVT/libs/kml_printer.h

@@ -2,7 +2,7 @@
  * \file kml_printer.h
  * \brief Interface of a class that prints PVT information to a kml file
  * \author Javier Arribas, 2011. jarribas(at)cttc.es
- *
+ *         Álvaro Cebrián Juan, 2018. acebrianjuan(at)gmail.com
  *
  * -------------------------------------------------------------------------
  *
@@ -34,6 +34,7 @@
 #define GNSS_SDR_KML_PRINTER_H_
 
 #include "pvt_solution.h"
+#include "rtklib_solver.h"
 #include <fstream>
 #include <memory>
 #include <string>
@@ -48,15 +49,19 @@ class Kml_Printer
 {
 private:
     std::ofstream kml_file;
+    std::ofstream tmp_file;
     bool positions_printed;
     std::string kml_filename;
     std::string kml_base_path;
+    std::string tmp_file_str;
+    unsigned int point_id;
+    std::string indent;
 
 public:
     Kml_Printer(const std::string& base_path = std::string("."));
     ~Kml_Printer();
     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 print_position(const std::shared_ptr<rtklib_solver>& position, bool print_average_values);
     bool close_file();
 };
 

src/tests/system-tests/libs/position_test_flags.h

@@ -37,7 +37,6 @@
 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(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_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");

src/tests/system-tests/position_test.cc

@@ -455,70 +455,7 @@ void PositionSystemTest::check_results()
     ref_R_eb_e.insert_cols(0, true_r_eb_e);
     arma::vec ref_r_enu = {0, 0, 0};
     cart2utm(true_r_eb_e, utm_zone, ref_r_enu);
-    if (!FLAGS_use_pvt_solver_dump)
-        {
-            //fall back to read receiver KML output (position only)
-            std::fstream myfile(PositionSystemTest::generated_kml_file, std::ios_base::in);
-            ASSERT_TRUE(myfile.is_open()) << "No valid kml file could be opened";
-            std::string line;
-            // Skip header
-            std::getline(myfile, line);
-            bool is_header = true;
-            while (is_header)
-                {
-                    std::getline(myfile, line);
-                    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_ecef;
-                            pv_Geo_to_ECEF(degtorad(lat), degtorad(longitude), h, arma::vec{0, 0, 0}, tmp_r_ecef, tmp_v_ecef);
-                            R_eb_e.insert_cols(current_epoch, tmp_r_ecef);
-                            arma::vec tmp_r_enu = {0, 0, 0};
-                            cart2utm(tmp_r_ecef, utm_zone, tmp_r_enu);
-                            R_eb_enu.insert_cols(current_epoch, tmp_r_enu);
-                            //                            std::cout << "lat = " << lat << ", longitude = " << longitude << "  h = " << h << std::endl;
-                            //                            std::cout << "E = " << east << ", N = " << north << " U = " << up << std::endl;
-                            //                            getchar();
-                        }
-                }
-            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();
@@ -544,7 +481,7 @@ void PositionSystemTest::check_results()
             cart2utm(R_eb_e.col(current_epoch), utm_zone, tmp_r_enu);
             R_eb_enu.insert_cols(current_epoch, tmp_r_enu);
 
-                    //debug check
+            // 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;
@@ -552,10 +489,8 @@ void PositionSystemTest::check_results()
             current_epoch++;
         }
     ASSERT_FALSE(current_epoch == 0) << "PVT dump is empty";
-        }
 
     // compute results
-
     if (FLAGS_static_scenario)
         {
             double sigma_E_2_precision = arma::var(R_eb_enu.row(0));