Added RTKLib solver unit test

src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc

@@ -50,6 +50,10 @@ namespace bc = boost::math;
 namespace bc = boost::integer;
 #endif
 
+//includes used by the observables serializarion (export observables for rtklib unit test)
+#include <boost/archive/xml_oarchive.hpp>
+#include <boost/archive/xml_iarchive.hpp>
+#include <boost/serialization/map.hpp>
 
 using google::LogMessage;
 
@@ -507,6 +511,53 @@ bool rtklib_pvt_cc::send_sys_v_ttff_msg(ttff_msgbuf ttff)
 }
 
 
+bool rtklib_pvt_cc::save_gnss_synchro_map_xml(const std::string file_name)
+{
+    if (gnss_observables_map.empty() == false)
+        {
+            try
+                {
+                    std::ofstream ofs(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
+                    boost::archive::xml_oarchive xml(ofs);
+                    xml << boost::serialization::make_nvp("GNSS-SDR_gnss_synchro_map", gnss_observables_map);
+                    ofs.close();
+                    LOG(INFO) << "Saved gnss_sychro map data";
+                }
+            catch (std::exception& e)
+                {
+                    LOG(WARNING) << e.what();
+                    return false;
+                }
+            return true;
+        }
+    else
+        {
+            LOG(WARNING) << "Failed to save gnss_synchro, map is empty";
+            return false;
+        }
+}
+
+bool rtklib_pvt_cc::load_gnss_synchro_map_xml(const std::string file_name)
+{
+    //load from xml (boost serialize)
+    try
+        {
+            std::ifstream ifs(file_name.c_str(), std::ifstream::binary | std::ifstream::in);
+            boost::archive::xml_iarchive xml(ifs);
+            gnss_observables_map.clear();
+            xml >> boost::serialization::make_nvp("GNSS-SDR_gnss_synchro_map", gnss_observables_map);
+            ifs.close();
+            return true;
+            //std::cout << "Loaded gnss_synchro map data with " << gnss_synchro_map.size() << " pseudoranges" << std::endl;
+        }
+    catch (std::exception& e)
+        {
+            std::cout << e.what() << "File: " << file_name;
+            return false;
+        }
+}
+
+
 int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_items,
     gr_vector_void_star& output_items __attribute__((unused)))
 {
@@ -526,7 +577,6 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
 
             gnss_observables_map.clear();
             const Gnss_Synchro** in = reinterpret_cast<const Gnss_Synchro**>(&input_items[0]);  // Get the input buffer pointer
-
             // ############ 1. READ PSEUDORANGES ####
             for (uint32_t i = 0; i < d_nchannels; i++)
                 {
@@ -610,8 +660,15 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
                             //        it->second.Pseudorange_m = it->second.Pseudorange_m - d_ls_pvt->get_time_offset_s() * GPS_C_m_s;
                             //    }
 
+
                             if (d_ls_pvt->get_PVT(gnss_observables_map, false))
                                 {
+                                    //Optional debug code: export observables snapshot for rtklib unit testing
+                                    //std::cout << "step 1: save gnss_synchro map" << std::endl;
+                                    //save_gnss_synchro_map_xml("./gnss_synchro_map.xml");
+                                    //getchar(); //stop the execution
+                                    //end debug
+
                                     if (current_RX_time_ms % d_display_rate_ms == 0)
                                         {
                                             flag_display_pvt = true;
@@ -2060,7 +2117,6 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
                         {
                             std::streamsize ss = std::cout.precision();  // save current precision
                             std::cout.setf(std::ios::fixed, std::ios::floatfield);
-
                             auto facet = new boost::posix_time::time_facet("%Y-%b-%d %H:%M:%S.%f %z");
                             std::cout.imbue(std::locale(std::cout.getloc(), facet));
 

src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.h

@@ -152,6 +152,10 @@ private:
     bool send_sys_v_ttff_msg(ttff_msgbuf ttff);
     std::chrono::time_point<std::chrono::system_clock> start, end;
 
+    bool save_gnss_synchro_map_xml(const std::string file_name);  //debug helper function
+
+    bool load_gnss_synchro_map_xml(const std::string file_name);  //debug helper function
+
 public:
     rtklib_pvt_cc(uint32_t nchannels,
         bool dump, std::string dump_filename,

src/algorithms/PVT/libs/rtklib_solver.h

@@ -76,12 +76,13 @@ private:
     rtk_t rtk_;
     std::string d_dump_filename;
     std::ofstream d_dump_file;
-    sol_t pvt_sol;
+
     bool d_flag_dump_enabled;
     int d_nchannels;  // Number of available channels for positioning
     double dop_[4];
 
 public:
+    sol_t pvt_sol;
     rtklib_solver(int nchannels, std::string dump_filename, bool flag_dump_to_file, rtk_t& rtk);
     ~rtklib_solver();