/*! * \file nmea_printer_test.cc * \brief Implements Unit Tests for the Nmea_Printer class. * \author Carles Fernandez-Prades, 2017. cfernandez(at)cttc.es * * ----------------------------------------------------------------------------- * * GNSS-SDR is a Global Navigation Satellite System software-defined receiver. * This file is part of GNSS-SDR. * * Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors) * SPDX-License-Identifier: GPL-3.0-or-later * * ----------------------------------------------------------------------------- */ #include "nmea_printer.h" #include "gnss_sdr_filesystem.h" #include "pvt_conf.h" #include "rtklib_rtkpos.h" #include "rtklib_solver.h" #include #include class NmeaPrinterTest : public ::testing::Test { protected: NmeaPrinterTest() { this->conf(); } ~NmeaPrinterTest() = default; void conf(); rtk_t rtk; }; void NmeaPrinterTest::conf() { snrmask_t snrmask = {{}, {{}, {}}}; int positioning_mode = 0; // Single int number_of_frequencies = 1; double elevation_mask = 5; int navigation_system = 1; // GPS int integer_ambiguity_resolution_gps = 0; int integer_ambiguity_resolution_glo = 0; int integer_ambiguity_resolution_bds = 0; int outage_reset_ambiguity = 5; int min_lock_to_fix_ambiguity = 0; int iono_model = 0; int trop_model = 0; int dynamics_model = 0; int earth_tide = 0; int number_filter_iter = 1; double code_phase_error_ratio_l1 = 100.0; double code_phase_error_ratio_l2 = 100.0; double code_phase_error_ratio_l5 = 100.0; double carrier_phase_error_factor_a = 0.003; double carrier_phase_error_factor_b = 0.003; double bias_0 = 30.0; double iono_0 = 0.03; double trop_0 = 0.3; double sigma_bias = 1e-4; double sigma_iono = 1e-3; double sigma_trop = 1e-4; double sigma_acch = 1e-1; double sigma_accv = 1e-2; double sigma_pos = 0.0; double min_ratio_to_fix_ambiguity = 3.0; double min_elevation_to_fix_ambiguity = 0.0; double slip_threshold = 0.05; double threshold_reject_innovation = 30.0; double threshold_reject_gdop = 30.0; int sat_PCV = 0; int rec_PCV = 0; int phwindup = 0; int reject_GPS_IIA = 0; int raim_fde = 0; prcopt_t rtklib_configuration_options = { positioning_mode, /* positioning mode (PMODE_XXX) see src/algorithms/libs/rtklib/rtklib.h */ 0, /* solution type (0:forward,1:backward,2:combined) */ number_of_frequencies, /* number of frequencies (1:L1, 2:L1+L2, 3:L1+L2+L5)*/ navigation_system, /* navigation system */ elevation_mask * D2R, /* elevation mask angle (degrees) */ snrmask, /* snrmask_t snrmask SNR mask */ 0, /* satellite ephemeris/clock (EPHOPT_XXX) */ integer_ambiguity_resolution_gps, /* AR mode (0:off,1:continuous,2:instantaneous,3:fix and hold,4:ppp-ar) */ integer_ambiguity_resolution_glo, /* GLONASS AR mode (0:off,1:on,2:auto cal,3:ext cal) */ integer_ambiguity_resolution_bds, /* BeiDou AR mode (0:off,1:on) */ outage_reset_ambiguity, /* obs outage count to reset bias */ min_lock_to_fix_ambiguity, /* min lock count to fix ambiguity */ 10, /* min fix count to hold ambiguity */ 1, /* max iteration to resolve ambiguity */ iono_model, /* ionosphere option (IONOOPT_XXX) */ trop_model, /* troposphere option (TROPOPT_XXX) */ dynamics_model, /* dynamics model (0:none, 1:velocity, 2:accel) */ earth_tide, /* earth tide correction (0:off,1:solid,2:solid+otl+pole) */ number_filter_iter, /* number of filter iteration */ 0, /* code smoothing window size (0:none) */ 0, /* interpolate reference obs (for post mission) */ 0, /* sbssat_t sbssat SBAS correction options */ 0, /* sbsion_t sbsion[MAXBAND+1] SBAS satellite selection (0:all) */ 0, /* rover position for fixed mode */ 0, /* base position for relative mode */ /* 0:pos in prcopt, 1:average of single pos, */ /* 2:read from file, 3:rinex header, 4:rtcm pos */ {code_phase_error_ratio_l1, code_phase_error_ratio_l2, code_phase_error_ratio_l5}, /* eratio[NFREQ] code/phase error ratio */ {100.0, carrier_phase_error_factor_a, carrier_phase_error_factor_b, 0.0, 1.0}, /* err[5]: measurement error factor [0]:reserved, [1-3]:error factor a/b/c of phase (m) , [4]:doppler frequency (hz) */ {bias_0, iono_0, trop_0}, /* std[3]: initial-state std [0]bias,[1]iono [2]trop*/ {sigma_bias, sigma_iono, sigma_trop, sigma_acch, sigma_accv, sigma_pos}, /* prn[6] process-noise std */ 5e-12, /* sclkstab: satellite clock stability (sec/sec) */ {min_ratio_to_fix_ambiguity, 0.9999, 0.25, 0.1, 0.05, 0.0, 0.0, 0.0}, /* thresar[8]: AR validation threshold */ min_elevation_to_fix_ambiguity, /* elevation mask of AR for rising satellite (deg) */ 0.0, /* elevation mask to hold ambiguity (deg) */ slip_threshold, /* slip threshold of geometry-free phase (m) */ 30.0, /* max difference of time (sec) */ threshold_reject_innovation, /* reject threshold of innovation (m) */ threshold_reject_gdop, /* reject threshold of gdop */ {}, /* double baseline[2] baseline length constraint {const,sigma} (m) */ {}, /* double ru[3] rover position for fixed mode {x,y,z} (ecef) (m) */ {}, /* double rb[3] base position for relative mode {x,y,z} (ecef) (m) */ {"", ""}, /* char anttype[2][MAXANT] antenna types {rover,base} */ {{}, {}}, /* double antdel[2][3] antenna delta {{rov_e,rov_n,rov_u},{ref_e,ref_n,ref_u}} */ {}, /* pcv_t pcvr[2] receiver antenna parameters {rov,base} */ {}, /* unsigned char exsats[MAXSAT] excluded satellites (1:excluded, 2:included) */ 0, /* max averaging epoches */ 0, /* initialize by restart */ 1, /* output single by dgps/float/fix/ppp outage */ {"", ""}, /* char rnxopt[2][256] rinex options {rover,base} */ {sat_PCV, rec_PCV, phwindup, reject_GPS_IIA, raim_fde}, /* posopt[6] positioning options [0]: satellite and receiver antenna PCV model; [1]: interpolate antenna parameters; [2]: apply phase wind-up correction for PPP modes; [3]: exclude measurements of GPS Block IIA satellites satellite [4]: RAIM FDE (fault detection and exclusion) [5]: handle day-boundary clock jump */ 0, /* solution sync mode (0:off,1:on) */ {{}, {}}, /* odisp[2][6*11] ocean tide loading parameters {rov,base} */ {{}, {{}, {}}, {{}, {}}, {}, {}}, /* exterr_t exterr extended receiver error model */ 0, /* disable L2-AR */ {}, /* char pppopt[256] ppp option "-GAP_RESION=" default gap to reset iono parameters (ep) */ true /* enable Bancroft initialization for the first iteration of the PVT computation, useful in some geometries */ }; rtkinit(&rtk, &rtklib_configuration_options); } TEST_F(NmeaPrinterTest, PrintLine) { std::string filename("nmea_test.nmea"); Pvt_Conf conf; conf.use_e6_for_pvt = false; std::shared_ptr pvt_solution = std::make_shared(rtk, "filename", 1, false, false, conf); boost::posix_time::ptime pt(boost::gregorian::date(1994, boost::date_time::Nov, 19), boost::posix_time::hours(22) + boost::posix_time::minutes(54) + boost::posix_time::seconds(46)); std::time_t tim = (pt - boost::posix_time::ptime(boost::gregorian::date(1970, 1, 1))).total_seconds(); gtime_t gtime; gtime.time = tim; gtime.sec = 0.0; pvt_solution->pvt_sol.rr[0] = -2282104.0; // 49.27416667; pvt_solution->pvt_sol.rr[1] = -3489369.0; // -123.18533333; pvt_solution->pvt_sol.rr[2] = 4810507.0; // 0 pvt_solution->pvt_sol.rr[3] = 0.0; pvt_solution->pvt_sol.rr[4] = 0.0; pvt_solution->pvt_sol.rr[5] = 0.0; pvt_solution->pvt_sol.stat = 1; // SOLQ_FIX pvt_solution->pvt_sol.time = gtime; bool flag_nmea_output_file = true; ASSERT_NO_THROW({ std::shared_ptr nmea_printer = std::make_shared(filename, flag_nmea_output_file, false, ""); nmea_printer->Print_Nmea_Line(pvt_solution.get()); }) << "Failure printing NMEA messages."; std::ifstream test_file(filename); std::string line; std::string GPRMC("$GPRMC"); if (test_file.is_open()) { while (getline(test_file, line)) { std::size_t found = line.find(GPRMC); if (found != std::string::npos) { EXPECT_EQ(line, "$GPRMC,225436.00,A,4916.4497617,N,12311.1202744,W,0.00,0.00,191194,0.0,E,D*21\r"); } } test_file.close(); } errorlib::error_code ec; EXPECT_EQ(true, fs::remove(fs::path(filename), ec)) << "Failure deleting a temporary file."; }