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Position file now admits a configuration file

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e.g.:

../install/position_test --config_file_ptest=../conf/gnss-sdr.conf
This commit is contained in:
Carles Fernandez 2017-05-19 08:39:48 +02:00
parent 27c31ef3b6
commit a7c9fd657c
1 changed files with 198 additions and 171 deletions
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59
src/tests/system-tests/position_test.cc
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@ -40,15 +40,18 @@
#include "concurrent_queue.h" #include "concurrent_queue.h"
#include "control_thread.h" #include "control_thread.h"
#include "in_memory_configuration.h" #include "in_memory_configuration.h"
#include "file_configuration.h"
#include "MATH_CONSTANTS.h" #include "MATH_CONSTANTS.h"
#include "signal_generator_flags.h" #include "signal_generator_flags.h"
DEFINE_string(config_file_ptest, std::string(""), "File containing the configuration parameters for the position test.");
// For GPS NAVIGATION (L1) // For GPS NAVIGATION (L1)
concurrent_queue<Gps_Acq_Assist> global_gps_acq_assist_queue; concurrent_queue<Gps_Acq_Assist> global_gps_acq_assist_queue;
concurrent_map<Gps_Acq_Assist> global_gps_acq_assist_map; concurrent_map<Gps_Acq_Assist> global_gps_acq_assist_map;
class Position_Gps_L1_System_Test: public ::testing::Test class Static_Position_System_Test: public ::testing::Test
{ {
public: public:
std::string generator_binary; std::string generator_binary;
@ -65,6 +68,7 @@ public:
int configure_generator(); int configure_generator();
int generate_signal(); int generate_signal();
int configure_receiver(); int configure_receiver();
int run_receiver(); int run_receiver();
void check_results(); void check_results();
@ -77,6 +81,7 @@ public:
double* east, double* north, double* up); double* east, double* north, double* up);
std::shared_ptr<InMemoryConfiguration> config; std::shared_ptr<InMemoryConfiguration> config;
std::shared_ptr<FileConfiguration> config_f;
std::string generated_kml_file; std::string generated_kml_file;
private: private:
@ -87,7 +92,7 @@ private:
void Position_Gps_L1_System_Test::geodetic2Ecef(const double latitude, const double longitude, const double altitude, void Static_Position_System_Test::geodetic2Ecef(const double latitude, const double longitude, const double altitude,
double* x, double* y, double* z) double* x, double* y, double* z)
{ {
const double a = 6378137.0; // WGS84 const double a = 6378137.0; // WGS84
@ -112,7 +117,7 @@ void Position_Gps_L1_System_Test::geodetic2Ecef(const double latitude, const dou
} }
void Position_Gps_L1_System_Test::geodetic2Enu(const double latitude, const double longitude, const double altitude, void Static_Position_System_Test::geodetic2Enu(const double latitude, const double longitude, const double altitude,
double* east, double* north, double* up) double* east, double* north, double* up)
{ {
double x, y, z; double x, y, z;
@ -155,7 +160,7 @@ void Position_Gps_L1_System_Test::geodetic2Enu(const double latitude, const doub
} }
double Position_Gps_L1_System_Test::compute_stdev_precision(const std::vector<double> & vec) double Static_Position_System_Test::compute_stdev_precision(const std::vector<double> & vec)
{ {
double sum__ = std::accumulate(vec.begin(), vec.end(), 0.0); double sum__ = std::accumulate(vec.begin(), vec.end(), 0.0);
double mean__ = sum__ / vec.size(); double mean__ = sum__ / vec.size();
@ -168,7 +173,7 @@ double Position_Gps_L1_System_Test::compute_stdev_precision(const std::vector<do
} }
double Position_Gps_L1_System_Test::compute_stdev_accuracy(const std::vector<double> & vec, const double ref) double Static_Position_System_Test::compute_stdev_accuracy(const std::vector<double> & vec, const double ref)
{ {
const double mean__ = ref; const double mean__ = ref;
double accum__ = 0.0; double accum__ = 0.0;
@ -180,7 +185,7 @@ double Position_Gps_L1_System_Test::compute_stdev_accuracy(const std::vector<dou
} }
int Position_Gps_L1_System_Test::configure_generator() int Static_Position_System_Test::configure_generator()
{ {
// Configure signal generator // Configure signal generator
generator_binary = FLAGS_generator_binary; generator_binary = FLAGS_generator_binary;
@ -202,7 +207,7 @@ int Position_Gps_L1_System_Test::configure_generator()
} }
int Position_Gps_L1_System_Test::generate_signal() int Static_Position_System_Test::generate_signal()
{ {
pid_t wait_result; pid_t wait_result;
int child_status; int child_status;
@ -225,10 +230,11 @@ int Position_Gps_L1_System_Test::generate_signal()
} }
int Position_Gps_L1_System_Test::configure_receiver() int Static_Position_System_Test::configure_receiver()
{
if(FLAGS_config_file_ptest.empty())
{ {
config = std::make_shared<InMemoryConfiguration>(); config = std::make_shared<InMemoryConfiguration>();
const int sampling_rate_internal = baseband_sampling_freq; const int sampling_rate_internal = baseband_sampling_freq;
const int number_of_taps = 11; const int number_of_taps = 11;
@ -367,7 +373,6 @@ int Position_Gps_L1_System_Test::configure_receiver()
// Set PVT // Set PVT
config->set_property("PVT.implementation", "RTKLIB_PVT"); config->set_property("PVT.implementation", "RTKLIB_PVT");
//config->set_property("PVT.implementation", "Hybrid_PVT");
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");
@ -383,14 +388,30 @@ int Position_Gps_L1_System_Test::configure_receiver()
config->set_property("PVT.iono_model", "OFF"); config->set_property("PVT.iono_model", "OFF");
config->set_property("PVT.trop_model", "OFF"); config->set_property("PVT.trop_model", "OFF");
config->set_property("PVT.AR_GPS", "PPP-AR"); config->set_property("PVT.AR_GPS", "PPP-AR");
config_f = 0;
}
else
{
config_f = std::make_shared<FileConfiguration>(FLAGS_config_file_ptest);
config = 0;
}
return 0; return 0;
} }
int Position_Gps_L1_System_Test::run_receiver() int Static_Position_System_Test::run_receiver()
{ {
std::shared_ptr<ControlThread> control_thread; std::shared_ptr<ControlThread> control_thread;
if(FLAGS_config_file_ptest.empty())
{
control_thread = std::make_shared<ControlThread>(config); control_thread = std::make_shared<ControlThread>(config);
}
else
{
control_thread = std::make_shared<ControlThread>(config_f);
}
// start receiver // start receiver
try try
{ {
@ -420,17 +441,17 @@ int Position_Gps_L1_System_Test::run_receiver()
{ {
std::string aux = std::string(buffer); std::string aux = std::string(buffer);
EXPECT_EQ(aux.empty(), false); EXPECT_EQ(aux.empty(), false);
Position_Gps_L1_System_Test::generated_kml_file = aux.erase(aux.length() - 1, 1); Static_Position_System_Test::generated_kml_file = aux.erase(aux.length() - 1, 1);
} }
pclose(fp); pclose(fp);
EXPECT_EQ(Position_Gps_L1_System_Test::generated_kml_file.empty(), false); EXPECT_EQ(Static_Position_System_Test::generated_kml_file.empty(), false);
return 0; return 0;
} }
void Position_Gps_L1_System_Test::check_results() void Static_Position_System_Test::check_results()
{ {
std::fstream myfile(Position_Gps_L1_System_Test::generated_kml_file, std::ios_base::in); std::fstream myfile(Static_Position_System_Test::generated_kml_file, std::ios_base::in);
std::string line; std::string line;
std::vector<double> pos_e; std::vector<double> pos_e;
@ -494,6 +515,8 @@ void Position_Gps_L1_System_Test::check_results()
double sum__u = std::accumulate(pos_u.begin(), pos_u.end(), 0.0); double sum__u = std::accumulate(pos_u.begin(), pos_u.end(), 0.0);
double mean__u = sum__u / pos_u.size(); double mean__u = sum__u / pos_u.size();
if(FLAGS_config_file_ptest.empty())
{
std::cout << "---- ACCURACY ----" << std::endl; std::cout << "---- ACCURACY ----" << std::endl;
std::cout << "2DRMS = " << 2 * sqrt(sigma_E_2_accuracy + sigma_N_2_accuracy) << " [m]" << std::endl; std::cout << "2DRMS = " << 2 * sqrt(sigma_E_2_accuracy + sigma_N_2_accuracy) << " [m]" << std::endl;
std::cout << "DRMS = " << sqrt(sigma_E_2_accuracy + sigma_N_2_accuracy) << " [m]" << std::endl; std::cout << "DRMS = " << sqrt(sigma_E_2_accuracy + sigma_N_2_accuracy) << " [m]" << std::endl;
@ -505,6 +528,7 @@ void Position_Gps_L1_System_Test::check_results()
std::cout << "Bias 2D = " << sqrt(std::pow(mean__e, 2.0) + std::pow(mean__n, 2.0)) << " [m]" << std::endl; std::cout << "Bias 2D = " << sqrt(std::pow(mean__e, 2.0) + std::pow(mean__n, 2.0)) << " [m]" << std::endl;
std::cout << "Bias 3D = " << sqrt(std::pow(mean__e, 2.0) + std::pow(mean__n, 2.0) + std::pow(mean__u, 2.0)) << " [m]" << std::endl; std::cout << "Bias 3D = " << sqrt(std::pow(mean__e, 2.0) + std::pow(mean__n, 2.0) + std::pow(mean__u, 2.0)) << " [m]" << std::endl;
std::cout << std::endl; std::cout << std::endl;
}
std::cout << "---- PRECISION ----" << std::endl; std::cout << "---- PRECISION ----" << std::endl;
std::cout << "2DRMS = " << 2 * sqrt(sigma_E_2_precision + sigma_N_2_precision) << " [m]" << std::endl; std::cout << "2DRMS = " << 2 * sqrt(sigma_E_2_precision + sigma_N_2_precision) << " [m]" << std::endl;
@ -521,7 +545,9 @@ void Position_Gps_L1_System_Test::check_results()
} }
TEST_F(Position_Gps_L1_System_Test, Position_system_test) TEST_F(Static_Position_System_Test, Position_system_test)
{
if(FLAGS_config_file_ptest.empty())
{ {
// Configure the signal generator // Configure the signal generator
configure_generator(); configure_generator();
@ -531,6 +557,7 @@ TEST_F(Position_Gps_L1_System_Test, Position_system_test)
{ {
generate_signal(); generate_signal();
} }
}
// Configure receiver // Configure receiver
configure_receiver(); configure_receiver();