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Added GnuPlot to observables system test

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Unknown 2017-11-10 14:12:25 +01:00
parent b838d5d34c
commit baf2afdd3e
1 changed files with 162 additions and 26 deletions
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188
src/tests/system-tests/obs_system_test.cc
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@ -32,6 +32,7 @@
#include <algorithm> #include <algorithm>
#include <chrono> #include <chrono>
#include <boost/filesystem.hpp>
#include <cstdlib> #include <cstdlib>
#include <exception> #include <exception>
#include <iostream> #include <iostream>
@ -48,6 +49,8 @@
#include <gpstk/Rinex3ObsData.hpp> #include <gpstk/Rinex3ObsData.hpp>
#include <gpstk/Rinex3ObsHeader.hpp> #include <gpstk/Rinex3ObsHeader.hpp>
#include <gpstk/Rinex3ObsStream.hpp> #include <gpstk/Rinex3ObsStream.hpp>
#include "gnuplot_i.h"
#include "test_flags.h"
#include "concurrent_map.h" #include "concurrent_map.h"
#include "concurrent_queue.h" #include "concurrent_queue.h"
#include "control_thread.h" #include "control_thread.h"
@ -66,6 +69,7 @@ DEFINE_double(cp_error_mean_max, 5.0, "Maximum mean error in carrier phase");
DEFINE_double(cp_error_std_max, 2.5, "Maximum standard deviation in carrier phase"); DEFINE_double(cp_error_std_max, 2.5, "Maximum standard deviation in carrier phase");
DEFINE_double(dp_error_mean_max, 50.0, "Maximum mean error in Doppler frequency"); DEFINE_double(dp_error_mean_max, 50.0, "Maximum mean error in Doppler frequency");
DEFINE_double(dp_error_std_max, 15.0, "Maximum standard deviation in Doppler frequency"); DEFINE_double(dp_error_std_max, 15.0, "Maximum standard deviation in Doppler frequency");
DEFINE_bool(plot_obs_sys_test, false, "Plots results of ObsSystemTest with gnuplot");
class ObsSystemTest: public ::testing::Test class ObsSystemTest: public ::testing::Test
{ {
@ -97,13 +101,16 @@ public:
std::vector<arma::vec>& diff, std::vector<arma::vec>& diff,
arma::mat& sow_prn_ref); arma::mat& sow_prn_ref);
void compute_pseudorange_error(std::vector<arma::vec>& diff, void compute_pseudorange_error(std::vector<arma::vec>& diff,
double error_th_mean, double error_th_std); double error_th_mean, double error_th_std,
std::string signal_name);
void compute_carrierphase_error( void compute_carrierphase_error(
std::vector<arma::vec>& diff, std::vector<arma::vec>& diff,
double error_th_mean, double error_th_std); double error_th_mean, double error_th_std,
std::string signal_name);
void compute_doppler_error( void compute_doppler_error(
std::vector<arma::vec>& diff, std::vector<arma::vec>& diff,
double error_th_mean, double error_th_std); double error_th_mean, double error_th_std,
std::string signal_name);
std::string filename_rinex_obs = FLAGS_filename_rinex_true; std::string filename_rinex_obs = FLAGS_filename_rinex_true;
std::string generated_rinex_obs = FLAGS_filename_rinex_obs; std::string generated_rinex_obs = FLAGS_filename_rinex_obs;
std::string configuration_file_ = FLAGS_configuration_file; std::string configuration_file_ = FLAGS_configuration_file;
@ -466,12 +473,7 @@ void ObsSystemTest::time_alignment_diff_pr(
int ObsSystemTest::configure_receiver() int ObsSystemTest::configure_receiver()
{ {
config = std::make_shared<FileConfiguration>(configuration_file_); config = std::make_shared<FileConfiguration>(configuration_file_);
int d_rinex_ver = config->property("PVT.rinex_version", 0);
if(d_rinex_ver != 2)
{
std::cout << "Invalid RINEX version. Set PVT.rinex_version=2 in configuration file." << std::endl;
std::cout << "GPSTk does not work with RINEX v. 3.02." << std::endl;
}
if( config->property("Channels_1C.count", 0) > 0 ) if( config->property("Channels_1C.count", 0) > 0 )
{gps_1C = true;} {gps_1C = true;}
if( config->property("Channels_1B.count", 0) > 0 ) if( config->property("Channels_1B.count", 0) > 0 )
@ -524,16 +526,23 @@ int ObsSystemTest::run_receiver()
void ObsSystemTest::compute_pseudorange_error( void ObsSystemTest::compute_pseudorange_error(
std::vector<arma::vec>& diff, std::vector<arma::vec>& diff,
double error_th_mean, double error_th_std) double error_th_mean, double error_th_std,
std::string signal_name)
{ {
int prn_id = 0; int prn_id = 0;
std::vector<arma::vec>::iterator iter_diff; std::vector<arma::vec>::iterator iter_diff;
std::vector<double> means;
std::vector<double> stddevs;
std::vector<double> prns;
for(iter_diff = diff.begin(); iter_diff != diff.end(); iter_diff++) for(iter_diff = diff.begin(); iter_diff != diff.end(); iter_diff++)
{ {
if(!iter_diff->is_empty()) if(!iter_diff->is_empty())
{ {
double d_mean = arma::mean(*iter_diff); double d_mean = arma::mean(*iter_diff);
means.push_back(d_mean);
double d_stddev = arma::stddev(*iter_diff); double d_stddev = arma::stddev(*iter_diff);
stddevs.push_back(d_stddev);
prns.push_back(static_cast<double>(prn_id));
std::cout << "-- Mean pseudorange difference for sat " << prn_id << ": " << d_mean; std::cout << "-- Mean pseudorange difference for sat " << prn_id << ": " << d_mean;
std::cout << " +/- " << d_stddev; std::cout << " +/- " << d_stddev;
std::cout << " [m]" << std::endl; std::cout << " [m]" << std::endl;
@ -542,20 +551,62 @@ void ObsSystemTest::compute_pseudorange_error(
} }
prn_id++; prn_id++;
} }
if(FLAGS_plot_obs_sys_test == true)
{
const std::string gnuplot_executable(FLAGS_gnuplot_executable);
if(gnuplot_executable.empty())
{
std::cout << "WARNING: Although the flag plot_obs_sys_test has been set to TRUE," << std::endl;
std::cout << "gnuplot has not been found in your system." << std::endl;
std::cout << "Test results will not be plotted." << std::endl;
}
else
{
try
{
boost::filesystem::path p(gnuplot_executable);
boost::filesystem::path dir = p.parent_path();
std::string gnuplot_path = dir.native();
Gnuplot::set_GNUPlotPath(gnuplot_path);
Gnuplot g1("linespoints");
g1.set_title(signal_name + " Pseudorange error");
g1.set_grid();
g1.set_xlabel("PRN");
g1.set_ylabel("Pseudorange error [m]");
g1.plot_xy(prns, means, "Mean");
g1.plot_xy(prns, stddevs, "Standard deviation");
//g1.savetops("FFT_execution_times_extended");
//g1.savetopdf("FFT_execution_times_extended", 18);
g1.showonscreen(); // window output
}
catch (const GnuplotException & ge)
{
std::cout << ge.what() << std::endl;
}
}
}
} }
void ObsSystemTest::compute_carrierphase_error( void ObsSystemTest::compute_carrierphase_error(
std::vector<arma::vec>& diff, std::vector<arma::vec>& diff,
double error_th_mean, double error_th_std) double error_th_mean, double error_th_std,
std::string signal_name)
{ {
int prn_id = 0; int prn_id = 0;
std::vector<double> means;
std::vector<double> stddevs;
std::vector<double> prns;
std::vector<arma::vec>::iterator iter_diff; std::vector<arma::vec>::iterator iter_diff;
for(iter_diff = diff.begin(); iter_diff != diff.end(); iter_diff++) for(iter_diff = diff.begin(); iter_diff != diff.end(); iter_diff++)
{ {
if(!iter_diff->is_empty()) if(!iter_diff->is_empty())
{ {
double d_mean = arma::mean(*iter_diff); double d_mean = arma::mean(*iter_diff);
means.push_back(d_mean);
double d_stddev = arma::stddev(*iter_diff); double d_stddev = arma::stddev(*iter_diff);
stddevs.push_back(d_stddev);
prns.push_back(static_cast<double>(prn_id));
std::cout << "-- Mean carrier phase difference for sat " << prn_id << ": " << d_mean; std::cout << "-- Mean carrier phase difference for sat " << prn_id << ": " << d_mean;
std::cout << " +/- " << d_stddev; std::cout << " +/- " << d_stddev;
std::cout << " whole cycles" << std::endl; std::cout << " whole cycles" << std::endl;
@ -564,20 +615,62 @@ void ObsSystemTest::compute_carrierphase_error(
} }
prn_id++; prn_id++;
} }
if(FLAGS_plot_obs_sys_test == true)
{
const std::string gnuplot_executable(FLAGS_gnuplot_executable);
if(gnuplot_executable.empty())
{
std::cout << "WARNING: Although the flag plot_obs_sys_test has been set to TRUE," << std::endl;
std::cout << "gnuplot has not been found in your system." << std::endl;
std::cout << "Test results will not be plotted." << std::endl;
}
else
{
try
{
boost::filesystem::path p(gnuplot_executable);
boost::filesystem::path dir = p.parent_path();
std::string gnuplot_path = dir.native();
Gnuplot::set_GNUPlotPath(gnuplot_path);
Gnuplot g1("linespoints");
g1.set_title(signal_name + " Carrier phase error");
g1.set_grid();
g1.set_xlabel("PRN");
g1.set_ylabel("Carrier phase error [whole cycles]");
g1.plot_xy(prns, means, "Mean");
g1.plot_xy(prns, stddevs, "Standard deviation");
//g1.savetops("FFT_execution_times_extended");
//g1.savetopdf("FFT_execution_times_extended", 18);
g1.showonscreen(); // window output
}
catch (const GnuplotException & ge)
{
std::cout << ge.what() << std::endl;
}
}
}
} }
void ObsSystemTest::compute_doppler_error( void ObsSystemTest::compute_doppler_error(
std::vector<arma::vec>& diff, std::vector<arma::vec>& diff,
double error_th_mean, double error_th_std) double error_th_mean, double error_th_std,
std::string signal_name)
{ {
int prn_id = 0; int prn_id = 0;
std::vector<double> means;
std::vector<double> stddevs;
std::vector<double> prns;
std::vector<arma::vec>::iterator iter_diff; std::vector<arma::vec>::iterator iter_diff;
for(iter_diff = diff.begin(); iter_diff != diff.end(); iter_diff++) for(iter_diff = diff.begin(); iter_diff != diff.end(); iter_diff++)
{ {
if(!iter_diff->is_empty()) if(!iter_diff->is_empty())
{ {
double d_mean = arma::mean(*iter_diff); double d_mean = arma::mean(*iter_diff);
means.push_back(d_mean);
double d_stddev = arma::stddev(*iter_diff); double d_stddev = arma::stddev(*iter_diff);
stddevs.push_back(d_stddev);
prns.push_back(static_cast<double>(prn_id));
std::cout << "-- Mean Doppler difference for sat " << prn_id << ": " << d_mean; std::cout << "-- Mean Doppler difference for sat " << prn_id << ": " << d_mean;
std::cout << " +/- " << d_stddev; std::cout << " +/- " << d_stddev;
std::cout << " [Hz]" << std::endl; std::cout << " [Hz]" << std::endl;
@ -586,6 +679,41 @@ void ObsSystemTest::compute_doppler_error(
} }
prn_id++; prn_id++;
} }
if(FLAGS_plot_obs_sys_test == true)
{
const std::string gnuplot_executable(FLAGS_gnuplot_executable);
if(gnuplot_executable.empty())
{
std::cout << "WARNING: Although the flag plot_obs_sys_test has been set to TRUE," << std::endl;
std::cout << "gnuplot has not been found in your system." << std::endl;
std::cout << "Test results will not be plotted." << std::endl;
}
else
{
try
{
boost::filesystem::path p(gnuplot_executable);
boost::filesystem::path dir = p.parent_path();
std::string gnuplot_path = dir.native();
Gnuplot::set_GNUPlotPath(gnuplot_path);
Gnuplot g1("linespoints");
g1.set_title(signal_name + " Doppler error");
g1.set_grid();
g1.set_xlabel("PRN");
g1.set_ylabel("Doppler error [Hz]");
g1.plot_xy(prns, means, "Mean");
g1.plot_xy(prns, stddevs, "Standard deviation");
//g1.savetops("FFT_execution_times_extended");
//g1.savetopdf("FFT_execution_times_extended", 18);
g1.showonscreen(); // window output
}
catch (const GnuplotException & ge)
{
std::cout << ge.what() << std::endl;
}
}
}
} }
void ObsSystemTest::check_results() void ObsSystemTest::check_results()
{ {
@ -612,19 +740,21 @@ void ObsSystemTest::check_results()
time_alignment_diff(doppler_ref, doppler_meas, dp_diff); time_alignment_diff(doppler_ref, doppler_meas, dp_diff);
// Results // Results
std::cout << std::endl;
std::cout << std::endl;
std::cout << "GPS L1 C/A obs. results" << std::endl; std::cout << "GPS L1 C/A obs. results" << std::endl;
// Compute pseudorange error // Compute pseudorange error
compute_pseudorange_error(pr_diff, pseudorange_error_th_mean, pseudorange_error_th_std); compute_pseudorange_error(pr_diff, pseudorange_error_th_mean, pseudorange_error_th_std, "GPS L1 C/A");
// Compute carrier phase error // Compute carrier phase error
compute_carrierphase_error(cp_diff, carrierphase_error_th_mean, carrierphase_error_th_std); compute_carrierphase_error(cp_diff, carrierphase_error_th_mean, carrierphase_error_th_std, "GPS L1 C/A");
// Compute Doppler error // Compute Doppler error
compute_doppler_error(dp_diff, doppler_error_th_mean, doppler_error_th_std); compute_doppler_error(dp_diff, doppler_error_th_mean, doppler_error_th_std, "GPS L1 C/A");
} }
if(gps_L5) if(gps_L5)
{ {
@ -648,19 +778,21 @@ void ObsSystemTest::check_results()
time_alignment_diff(doppler_ref, doppler_meas, dp_diff); time_alignment_diff(doppler_ref, doppler_meas, dp_diff);
// Results // Results
std::cout << std::endl;
std::cout << std::endl;
std::cout << "GPS L5 obs. results" << std::endl; std::cout << "GPS L5 obs. results" << std::endl;
// Compute pseudorange error // Compute pseudorange error
compute_pseudorange_error(pr_diff, pseudorange_error_th_mean, pseudorange_error_th_std); compute_pseudorange_error(pr_diff, pseudorange_error_th_mean, pseudorange_error_th_std, "GPS L5");
// Compute carrier phase error // Compute carrier phase error
compute_carrierphase_error(cp_diff, carrierphase_error_th_mean, carrierphase_error_th_std); compute_carrierphase_error(cp_diff, carrierphase_error_th_mean, carrierphase_error_th_std, "GPS L5");
// Compute Doppler error // Compute Doppler error
compute_doppler_error(dp_diff, doppler_error_th_mean, doppler_error_th_std); compute_doppler_error(dp_diff, doppler_error_th_mean, doppler_error_th_std, "GPS L5");
} }
if(gal_1B) if(gal_1B)
{ {
@ -684,19 +816,21 @@ void ObsSystemTest::check_results()
time_alignment_diff(doppler_ref, doppler_meas, dp_diff); time_alignment_diff(doppler_ref, doppler_meas, dp_diff);
// Results // Results
std::cout << std::endl;
std::cout << std::endl;
std::cout << "Galileo E1B obs. results" << std::endl; std::cout << "Galileo E1B obs. results" << std::endl;
// Compute pseudorange error // Compute pseudorange error
compute_pseudorange_error(pr_diff, pseudorange_error_th_mean, pseudorange_error_th_std); compute_pseudorange_error(pr_diff, pseudorange_error_th_mean, pseudorange_error_th_std, "Galileo E1B");
// Compute carrier phase error // Compute carrier phase error
compute_carrierphase_error(cp_diff, carrierphase_error_th_mean, carrierphase_error_th_std); compute_carrierphase_error(cp_diff, carrierphase_error_th_mean, carrierphase_error_th_std, "Galileo E1B");
// Compute Doppler error // Compute Doppler error
compute_doppler_error(dp_diff, doppler_error_th_mean, doppler_error_th_std); compute_doppler_error(dp_diff, doppler_error_th_mean, doppler_error_th_std, "Galileo E1B");
} }
if(gal_E5a) if(gal_E5a)
{ {
@ -720,19 +854,21 @@ void ObsSystemTest::check_results()
time_alignment_diff(doppler_ref, doppler_meas, dp_diff); time_alignment_diff(doppler_ref, doppler_meas, dp_diff);
// Results // Results
std::cout << std::endl;
std::cout << std::endl;
std::cout << "Galileo E5a obs. results" << std::endl; std::cout << "Galileo E5a obs. results" << std::endl;
// Compute pseudorange error // Compute pseudorange error
compute_pseudorange_error(pr_diff, pseudorange_error_th_mean, pseudorange_error_th_std); compute_pseudorange_error(pr_diff, pseudorange_error_th_mean, pseudorange_error_th_std, "Galileo E5a");
// Compute carrier phase error // Compute carrier phase error
compute_carrierphase_error(cp_diff, carrierphase_error_th_mean, carrierphase_error_th_std); compute_carrierphase_error(cp_diff, carrierphase_error_th_mean, carrierphase_error_th_std, "Galileo E5a");
// Compute Doppler error // Compute Doppler error
compute_doppler_error(dp_diff, doppler_error_th_mean, doppler_error_th_std); compute_doppler_error(dp_diff, doppler_error_th_mean, doppler_error_th_std, "Galileo E5a");
} }
} }
@ -754,11 +890,11 @@ TEST_F(ObsSystemTest, Observables_system_test)
bool is_gen_rinex_obs_valid = false; bool is_gen_rinex_obs_valid = false;
if(internal_rinex_generation) if(internal_rinex_generation)
{ {
is_gen_rinex_obs_valid = check_valid_rinex_obs( "./" + generated_rinex_obs, 2); is_gen_rinex_obs_valid = check_valid_rinex_obs( "./" + generated_rinex_obs, config->property("PVT.rinex_version", 3));
} }
else else
{ {
is_gen_rinex_obs_valid = check_valid_rinex_obs(generated_rinex_obs, 2); is_gen_rinex_obs_valid = check_valid_rinex_obs(generated_rinex_obs, config->property("PVT.rinex_version", 3));
} }
ASSERT_EQ(true, is_gen_rinex_obs_valid) << "The RINEX observation file " << generated_rinex_obs << ", generated by GNSS-SDR, is not well formed."; ASSERT_EQ(true, is_gen_rinex_obs_valid) << "The RINEX observation file " << generated_rinex_obs << ", generated by GNSS-SDR, is not well formed.";
std::cout << "The file is valid." << std::endl; std::cout << "The file is valid." << std::endl;