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