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Fix test if gnuplot is not present

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This commit is contained in:
Carles Fernandez 2018-10-13 11:05:01 +02:00
parent b61bbbb346
commit 9b91404ecb
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GPG Key ID: 4C583C52B0C3877D
1 changed files with 99 additions and 91 deletions
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190
src/tests/system-tests/position_test.cc
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@ -265,7 +265,8 @@ int PositionSystemTest::configure_receiver()
config->set_property("Tracking_1C.pll_bw_narrow_hz", std::to_string(pll_bw_narrow_hz)); config->set_property("Tracking_1C.pll_bw_narrow_hz", std::to_string(pll_bw_narrow_hz));
config->set_property("Tracking_1C.dll_bw_narrow_hz", std::to_string(dll_bw_narrow_hz)); config->set_property("Tracking_1C.dll_bw_narrow_hz", std::to_string(dll_bw_narrow_hz));
config->set_property("Tracking_1C.extend_correlation_symbols", std::to_string(extend_correlation_ms)); config->set_property("Tracking_1C.extend_correlation_symbols", std::to_string(extend_correlation_ms));
config->set_property("Tracking_1C.high_dyn", "true");
config->set_property("Tracking_1C.smoother_length", "200");
// 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");
config->set_property("TelemetryDecoder_1C.dump", "false"); config->set_property("TelemetryDecoder_1C.dump", "false");
@ -277,7 +278,7 @@ int PositionSystemTest::configure_receiver()
// Set PVT // Set PVT
config->set_property("PVT.implementation", "RTKLIB_PVT"); config->set_property("PVT.implementation", "RTKLIB_PVT");
config->set_property("PVT.positioning_mode", "Single"); config->set_property("PVT.positioning_mode", "PPP_Static");
config->set_property("PVT.output_rate_ms", std::to_string(output_rate_ms)); config->set_property("PVT.output_rate_ms", std::to_string(output_rate_ms));
config->set_property("PVT.display_rate_ms", std::to_string(display_rate_ms)); 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");
@ -642,99 +643,106 @@ void PositionSystemTest::check_results()
<< " [m/s]" << std::endl; << " [m/s]" << std::endl;
std::cout.precision(ss); std::cout.precision(ss);
//plots // plots
Gnuplot g1("points"); if (FLAGS_plot_position_test == true)
if (FLAGS_show_plots)
{ {
g1.showonscreen(); // window output const std::string gnuplot_executable(FLAGS_gnuplot_executable);
} if (!gnuplot_executable.empty())
else {
{ Gnuplot g1("points");
g1.disablescreen(); if (FLAGS_show_plots)
} {
g1.set_title("3D ECEF error coordinates"); g1.showonscreen(); // window output
g1.set_grid(); }
//conversion between arma::vec and std:vector else
arma::rowvec arma_vec_error_x = error_R_eb_e.row(0); {
arma::rowvec arma_vec_error_y = error_R_eb_e.row(1); g1.disablescreen();
arma::rowvec arma_vec_error_z = error_R_eb_e.row(2); }
g1.set_title("3D ECEF error coordinates");
g1.set_grid();
//conversion between arma::vec and std:vector
arma::rowvec arma_vec_error_x = error_R_eb_e.row(0);
arma::rowvec arma_vec_error_y = error_R_eb_e.row(1);
arma::rowvec arma_vec_error_z = error_R_eb_e.row(2);
std::vector<double> X(arma_vec_error_x.colptr(0), arma_vec_error_x.colptr(0) + arma_vec_error_x.n_rows); std::vector<double> X(arma_vec_error_x.colptr(0), arma_vec_error_x.colptr(0) + arma_vec_error_x.n_rows);
std::vector<double> Y(arma_vec_error_y.colptr(0), arma_vec_error_y.colptr(0) + arma_vec_error_y.n_rows); std::vector<double> Y(arma_vec_error_y.colptr(0), arma_vec_error_y.colptr(0) + arma_vec_error_y.n_rows);
std::vector<double> Z(arma_vec_error_z.colptr(0), arma_vec_error_z.colptr(0) + arma_vec_error_z.n_rows); std::vector<double> Z(arma_vec_error_z.colptr(0), arma_vec_error_z.colptr(0) + arma_vec_error_z.n_rows);
g1.cmd("set key box opaque"); g1.cmd("set key box opaque");
g1.plot_xyz(X, Y, Z, "ECEF 3D error"); g1.plot_xyz(X, Y, Z, "ECEF 3D error");
g1.set_legend(); g1.set_legend();
if (FLAGS_config_file_ptest.empty()) if (FLAGS_config_file_ptest.empty())
{ {
g1.savetops("ECEF_3d_error"); g1.savetops("ECEF_3d_error");
} }
else else
{ {
g1.savetops("ECEF_3d_error_" + config_filename_no_extension); g1.savetops("ECEF_3d_error_" + config_filename_no_extension);
} }
arma::vec time_vector_from_start_s = receiver_time_s - receiver_time_s(0); arma::vec time_vector_from_start_s = receiver_time_s - receiver_time_s(0);
Gnuplot g3("linespoints"); Gnuplot g3("linespoints");
if (FLAGS_show_plots) if (FLAGS_show_plots)
{ {
g3.showonscreen(); // window output g3.showonscreen(); // window output
} }
else else
{ {
g3.disablescreen(); g3.disablescreen();
} }
g3.set_title("3D Position estimation error module [m]"); g3.set_title("3D Position estimation error module [m]");
g3.set_grid(); g3.set_grid();
g3.set_xlabel("Receiver epoch time from first valid PVT [s]"); g3.set_xlabel("Receiver epoch time from first valid PVT [s]");
g3.set_ylabel("3D Position error [m]"); g3.set_ylabel("3D Position error [m]");
//conversion between arma::vec and std:vector //conversion between arma::vec and std:vector
std::vector<double> error_vec(error_module_R_eb_e.colptr(0), error_module_R_eb_e.colptr(0) + error_module_R_eb_e.n_rows); std::vector<double> error_vec(error_module_R_eb_e.colptr(0), error_module_R_eb_e.colptr(0) + error_module_R_eb_e.n_rows);
g3.cmd("set key box opaque"); g3.cmd("set key box opaque");
g3.plot_xy(time_vector_from_start_s, error_vec, "Position 3D error"); g3.plot_xy(time_vector_from_start_s, error_vec, "Position 3D error");
double mean3d = std::accumulate(error_vec.begin(), error_vec.end(), 0.0) / error_vec.size(); double mean3d = std::accumulate(error_vec.begin(), error_vec.end(), 0.0) / error_vec.size();
std::vector<double> error_mean(error_module_R_eb_e.n_rows, mean3d); std::vector<double> error_mean(error_module_R_eb_e.n_rows, mean3d);
g3.set_style("lines"); g3.set_style("lines");
g3.plot_xy(time_vector_from_start_s, error_mean, "Mean"); g3.plot_xy(time_vector_from_start_s, error_mean, "Mean");
g3.set_legend(); g3.set_legend();
if (FLAGS_config_file_ptest.empty()) if (FLAGS_config_file_ptest.empty())
{ {
g3.savetops("Position_3d_error"); g3.savetops("Position_3d_error");
} }
else else
{ {
g3.savetops("Position_3d_error_" + config_filename_no_extension); g3.savetops("Position_3d_error_" + config_filename_no_extension);
} }
Gnuplot g4("linespoints"); Gnuplot g4("linespoints");
if (FLAGS_show_plots) if (FLAGS_show_plots)
{ {
g4.showonscreen(); // window output g4.showonscreen(); // window output
} }
else else
{ {
g4.disablescreen(); g4.disablescreen();
} }
g4.set_title("3D Velocity estimation error module [m/s]"); g4.set_title("3D Velocity estimation error module [m/s]");
g4.set_grid(); g4.set_grid();
g4.set_xlabel("Receiver epoch time from first valid PVT [s]"); g4.set_xlabel("Receiver epoch time from first valid PVT [s]");
g4.set_ylabel("3D Velocity error [m/s]"); g4.set_ylabel("3D Velocity error [m/s]");
//conversion between arma::vec and std:vector //conversion between arma::vec and std:vector
std::vector<double> error_vec2(error_module_V_eb_e.colptr(0), error_module_V_eb_e.colptr(0) + error_module_V_eb_e.n_rows); std::vector<double> error_vec2(error_module_V_eb_e.colptr(0), error_module_V_eb_e.colptr(0) + error_module_V_eb_e.n_rows);
g4.cmd("set key box opaque"); g4.cmd("set key box opaque");
g4.plot_xy(time_vector_from_start_s, error_vec2, "Velocity 3D error"); g4.plot_xy(time_vector_from_start_s, error_vec2, "Velocity 3D error");
double mean3dv = std::accumulate(error_vec2.begin(), error_vec2.end(), 0.0) / error_vec2.size(); double mean3dv = std::accumulate(error_vec2.begin(), error_vec2.end(), 0.0) / error_vec2.size();
std::vector<double> error_mean_v(error_module_V_eb_e.n_rows, mean3dv); std::vector<double> error_mean_v(error_module_V_eb_e.n_rows, mean3dv);
g4.set_style("lines"); g4.set_style("lines");
g4.plot_xy(time_vector_from_start_s, error_mean_v, "Mean"); g4.plot_xy(time_vector_from_start_s, error_mean_v, "Mean");
g4.set_legend(); g4.set_legend();
if (FLAGS_config_file_ptest.empty()) if (FLAGS_config_file_ptest.empty())
{ {
g4.savetops("Velocity_3d_error"); g4.savetops("Velocity_3d_error");
} }
else else
{ {
g4.savetops("Velocity_3d_error_" + config_filename_no_extension); g4.savetops("Velocity_3d_error_" + config_filename_no_extension);
}
}
} }
} }
} }