added some tests and configured config.h.in for ROOT_DIR

CMakeLists.txt

@@ -39,9 +39,37 @@ endif()
 
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fpermissive")
 
+# Testing
 IF(NOT BUILD_TESTS)
   OPTION(BUILD_TESTS "Build Unit tests" ON)
 ENDIF(NOT BUILD_TESTS)
+if(BUILD_TESTS)
+	# Enables testing for this directory and below.
+    # Note that ctest expects to find a test file in the build directory root.
+    # Therefore, this command should be in the source directory root.
+    #include(CTest) # according to http://public.kitware.com/pipermail/cmake/2012-June/050853.html
+  	MESSAGE("Building tests.")
+    enable_testing()
+    set(_GNSS_UTILS_ROOT_DIR ${CMAKE_SOURCE_DIR})
+endif()
+
+# Define the directory where will be the configured config.h
+SET(GNSS_UTILS_CONFIG_DIR ${PROJECT_BINARY_DIR}/conf/gnss_utils/internal)
+
+# Create the specified output directory if it does not exist.
+IF(NOT EXISTS "${GNSS_UTILS_CONFIG_DIR}")
+  message(STATUS "Creating config output directory: ${GNSS_UTILS_CONFIG_DIR}")
+  file(MAKE_DIRECTORY "${GNSS_UTILS_CONFIG_DIR}")
+ENDIF()
+IF(EXISTS "${GNSS_UTILS_CONFIG_DIR}" AND NOT IS_DIRECTORY "${GNSS_UTILS_CONFIG_DIR}")
+  message(FATAL_ERROR "Bug: Specified CONFIG_DIR: "
+    "${GNSS_UTILS_CONFIG_DIR} exists, but is not a directory.")
+ENDIF()
+# Configure config.h
+configure_file(${CMAKE_CURRENT_SOURCE_DIR}/internal/config.h.in "${GNSS_UTILS_CONFIG_DIR}/config.h")
+message("GNSS_UTILS CONFIG ${GNSS_UTILS_CONFIG_DIR}/config.h")
+message("CONFIG DIRECTORY ${PROJECT_BINARY_DIR}")
+include_directories("${PROJECT_BINARY_DIR}/conf")
 
 # rtklib path
 SET(RTKLIB_DIR deps/RTKLIB)
@@ -87,7 +115,6 @@ SET(RTKLIB_SRC
     ${RTKLIB_SRC_DIR}/rcv/tersus.c
     ${RTKLIB_SRC_DIR}/rcv/ublox.c)
 
-
 # application header files
 SET(HEADERS
     include/gnss_utils/utils/utils.h
@@ -119,6 +146,13 @@ INCLUDE_DIRECTORIES(include/ ${EIGEN3_INCLUDE_DIR} ${Boost_INCLUDE_DIRS} ${RTKLI
 ADD_LIBRARY(gnss_utils SHARED ${SOURCES} ${RTKLIB_SRC})
 TARGET_LINK_LIBRARIES(gnss_utils ${Boost_LIBRARIES})
 
+# Examples
+ADD_SUBDIRECTORY(src/examples)
+# Testing
+if(BUILD_TESTS)
+  	add_subdirectory(test)
+endif()
+
 # Installing
 INSTALL(TARGETS ${PROJECT_NAME}
       RUNTIME DESTINATION bin
@@ -126,23 +160,8 @@ INSTALL(TARGETS ${PROJECT_NAME}
       ARCHIVE DESTINATION lib/iri-algorithms)
 INSTALL(FILES ${HEADERS} DESTINATION include/iri-algorithms/gnss_utils)
 INSTALL(FILES Findgnss_utils.cmake DESTINATION ${CMAKE_ROOT}/Modules/)
-
-
-# Examples
-ADD_SUBDIRECTORY(src/examples)
-if(BUILD_TESTS)
-	# Enables testing for this directory and below.
-    # Note that ctest expects to find a test file in the build directory root.
-    # Therefore, this command should be in the source directory root.
-    #include(CTest) # according to http://public.kitware.com/pipermail/cmake/2012-June/050853.html
-  	MESSAGE("Building tests.")
-    enable_testing()
-endif()
-
-# Testing
-if(BUILD_TESTS)
-  	add_subdirectory(test)
-endif()
+INSTALL(FILES "${WOLF_CONFIG_DIR}/config.h"
+  DESTINATION include/iri-algorithms/gnss_utils/internal)
 
 FIND_PACKAGE(Doxygen)
 

include/gnss_utils/observations.h

@@ -68,6 +68,8 @@ public:
                                      Observations&       common_obs_1,
                                      Observations&       common_obs_2);
 
+  bool operator==(const Observations& other_obs) const;
+
 private:
   // Private objects
   std::map<unsigned char, int> sat_2_idx_;  //< key: corresponding sat number, value: idx in obs_ vector

include/gnss_utils/utils/utils.h

@@ -5,6 +5,7 @@
 #include <iostream>
 #include <memory>
 #include <string>
+#include "gnss_utils/internal/config.h"
 
 #define ARRAY_SIZE(arr) sizeof(arr) / sizeof(arr[0])
 #define GNSSUTILS_MSG "--GnssUtils--"
@@ -42,4 +43,4 @@ bool equalObservations(const obs_t& obs1, const obs_t& obs2);
 
 }  // namespace GnssUtils
 
-#endif // INCLUDE_GNSS_UTILS_UTILS_UTILS_H_
+#endif // INCLUDE_GNSS_UTILS_UTILS_UTILS_H_
\ No newline at end of file

internal/config.h.in

+#ifndef GNSS_UTILS_INTERNAL_CONFIG_H_
+#define GNSS_UTILS_INTERNAL_CONFIG_H_
+
+#cmakedefine _GNSS_UTILS_DEBUG
+
+#cmakedefine _GNSS_UTILS_TRACE
+
+#define _GNSS_UTILS_ROOT_DIR "${_GNSS_UTILS_ROOT_DIR}"
+
+#endif /* GNSS_UTILS_INTERNAL_CONFIG_H_ */

src/observations.cpp

@@ -218,3 +218,18 @@ void Observations::findCommonObservations(const Observations& obs_1,
   //    std::cout << (int)obs_2_ref.sat << " ";
   // std::cout << std::endl;
 }
+
+bool Observations::operator ==(const Observations &other_obs) const
+{
+    if (sat_2_idx_ != other_obs.sat_2_idx_)
+        return false;
+
+    if (idx_2_sat_ != other_obs.idx_2_sat_)
+        return false;
+
+    for (auto i = 0; i < obs_.size(); i++)
+        if (!equalObservations(obs_.at(i), other_obs.obs_.at(i)))
+            return false;
+
+    return true;
+}

test/CMakeLists.txt

@@ -17,7 +17,5 @@ gnss_utils_add_gtest(gtest_transformations gtest_transformations.cpp)
 target_link_libraries(gtest_transformations ${PROJECT_NAME})
 
 # Observations test
-add_executable(gtest_observations gtest_observations.cpp)
-add_dependencies(gtest_observations libgtest)
-target_link_libraries(gtest_observations libgtest ${PROJECT_NAME})
+gnss_utils_add_gtest(gtest_observations gtest_observations.cpp)
+target_link_libraries(gtest_observations libgtest ${PROJECT_NAME})
\ No newline at end of file
-add_test(NAME gtest_observations COMMAND gtest_observations "${CMAKE_CURRENT_LIST_DIR}/../src/examples/sample_data.obs")

test/data/sample_data.obs

+     3.04           OBSERVATION DATA    M                   RINEX VERSION / TYPE
+sbf2rin-13.4.3                          20200205 113408 UTC PGM / RUN BY / DATE 
+SEPT                                                        MARKER NAME         
+Unknown                                                     MARKER NUMBER       
+Unknown             Unknown                                 OBSERVER / AGENCY   
+3021420             SEPT ASTERX-M2      4.4.0               REC # / TYPE / VERS 
+Unknown             Unknown                                 ANT # / TYPE        
+  4789398.3686   176958.8129  4194502.0999                  APPROX POSITION XYZ 
+        0.0000        0.0000        0.0000                  ANTENNA: DELTA H/E/N
+G    7 X1  C1C L1C C2W L2W C2L L2L                          SYS / # / OBS TYPES 
+E    7 X1  C1C L1C C5Q L5Q C7Q L7Q                          SYS / # / OBS TYPES 
+S    3 X1  C1C L1C                                          SYS / # / OBS TYPES 
+R    5 X1  C1C L1C C2C L2C                                  SYS / # / OBS TYPES 
+C    5 X1  C2I L2I C7I L7I                                  SYS / # / OBS TYPES 
+SEPTENTRIO RECEIVERS OUTPUT ALIGNED CARRIER PHASES.         COMMENT             
+NO FURTHER PHASE SHIFT APPLIED IN THE RINEX ENCODER.        COMMENT             
+G L1C                                                       SYS / PHASE SHIFT   
+G L2W                                                       SYS / PHASE SHIFT   
+G L2L  0.00000                                              SYS / PHASE SHIFT   
+E L1C  0.00000                                              SYS / PHASE SHIFT   
+E L5Q  0.00000                                              SYS / PHASE SHIFT   
+E L7Q  0.00000                                              SYS / PHASE SHIFT   
+S L1C                                                       SYS / PHASE SHIFT   
+R L1C                                                       SYS / PHASE SHIFT   
+R L2C                                                       SYS / PHASE SHIFT   
+C L2I                                                       SYS / PHASE SHIFT   
+C L7I                                                       SYS / PHASE SHIFT   
+     0.050                                                  INTERVAL            
+  2019    12    12    11    37   42.0000000     GPS         TIME OF FIRST OBS   
+  2019    12    12    11    45   12.9000000     GPS         TIME OF LAST OBS    
+    36                                                      # OF SATELLITES     
+ C1C    0.000 C2C    0.000                                  GLONASS COD/PHS/BIS 
+  8 R03  5 R05  1 R13 -2 R14 -7 R15  0 R19  3 R20  2 R21  4 GLONASS SLOT / FRQ #
+                                                            END OF HEADER       
+> 2019 12 12 11 37 42.0000000  0 23
+C05        16.000    40138840.659 6 209013478.40606  40138832.256 6 161622441.87406
+C10        17.000    39633104.355 5 206379985.90205  39633100.852 6 159586077.69206
+C23        18.000    22865676.301 8 119067585.90908
+C32        19.000    22153454.599 8 115358921.19508
+C37        20.000    23690566.611 7 123363010.77907
+E01        11.000    26311074.676 7 138265636.53007  26311074.470 5 103250320.19005  26311070.977 7 105943790.57907
+E09        12.000    25723493.482 5
+E12        13.000    24803095.627 5 130341141.55605  24803092.768 4  97332661.71504  24803092.407 6  99871767.93506
+E19        14.000    24540665.652 6 128962068.93606  24540664.837 5  96302837.53105  24540661.694 6  98815075.63606
+E21        15.000    25609802.251 7 134580416.73507  25609802.381 7 100498367.38007  25609799.519 7 103120055.01507
+G02         1.000    22032430.127 5
+G06         2.000    22147435.410 6 116385570.45206  22147437.095 4  90690045.24704  22147437.422 7  90690046.16907
+G07         3.000    20902411.481 8 109842911.60108  20902406.002 6  85591857.15006  20902406.930 7  85591857.16507
+G09         4.000    21908403.525 6 115129430.37406  21908399.544 1  89711233.32401  21908399.320 5
+G23         5.000    24104714.314 6 126671129.49306  24104706.816 2  98704739.67602
+G30         6.000    21404145.095 8 112479542.93308  21404142.953 6  87646388.26706  21404143.916 7  87646383.27307
+R03         7.000    21945110.617 7 117474090.63807  21945109.720 6  91368580.68606
+R14         8.000    20214975.526 8 107757316.39008  20214976.579 7  83811176.41707
+R15         9.000    22699008.378 5 121296675.96005  22699009.712 5  94341922.34705
+R19        10.000    22853592.745 4                  22853590.888 4
+S23        21.000    38309228.895 7 201316353.13407
+S25        22.000    37834172.957 6 198818604.39206
+S36        23.000    37630702.258 7 197750698.01307

test/gtest_observations.cpp

@@ -2,8 +2,7 @@
 #include "gnss_utils/observations.h"
 
 using namespace GnssUtils;
-
-std::string   rnx_file;
+std::string   rnx_file = std::string(_GNSS_UTILS_ROOT_DIR) + "/test/data/sample_data.obs";
 obs_t         obs;
 const gtime_t t_start{ 0, 0 };  // no limit
 const gtime_t t_end{ 0, 0 };    // no limit
@@ -42,6 +41,10 @@ TEST(ObservationsTest, AddClearObservation)
   // Testing clear
   observations.clearObservations();
   ASSERT_TRUE(0 == observations.getObservations().size());
+
+  // Add duplicated observation (has to crash)
+  observations.addObservation(obs.data[0]);
+  //ASSERT_DEATH(observations.addObservation(obs.data[0]),"");
 }
 
 TEST(ObservationsTest, LoadFromRinex)
@@ -57,7 +60,6 @@ TEST(ObservationsTest, LoadFromRinex)
 
   // Comparison
   ASSERT_TRUE(obs.n == observations.getObservations().size());
-
   for (int ii = 0; ii < obs.n; ++ii)
   {
     ASSERT_TRUE(equalObservations(obs.data[ii], observations.getObservations()[ii]));
@@ -122,28 +124,89 @@ TEST(ObservationsTest, HasSatellite)
 
 TEST(ObservationsTest, FindCommonObservations)
 {
-  loadRinex();
+  Observations observations1;
+  observations1.loadFromRinex(rnx_file.c_str(), t_start, t_end, dt, opt);
+  Observations observations2(observations1);
+
+  ASSERT_TRUE(observations1 == observations2);
+
+  Observations common1;
+  Observations common2;
 
+  Observations::findCommonObservations(observations1, observations2, common1, common2);
+
+  ASSERT_TRUE(common1 == common2);
+  ASSERT_TRUE(observations1 == common1);
+  ASSERT_TRUE(observations2 == common2);
+}
+
+
+TEST(ObservationsTest, FindCommonObservationsRemoved)
+{
   Observations observations1;
   observations1.loadFromRinex(rnx_file.c_str(), t_start, t_end, dt, opt);
   Observations observations2(observations1);
 
+  // Remove first observation of observations2
+  observations2.removeObservationByIdx(0);
+
   Observations common1;
   Observations common2;
 
   Observations::findCommonObservations(observations1, observations2, common1, common2);
 
+  ASSERT_TRUE(common1 == common2);
+  ASSERT_FALSE(observations1 == common1);
+  ASSERT_TRUE(observations2 == common2);
+
+}
+
+TEST(ObservationsTest, FindCommonObservationsChangeTime)
+{
+  Observations observations1;
+  observations1.loadFromRinex(rnx_file.c_str(), t_start, t_end, dt, opt);
+  Observations observations2(observations1);
+
+  // Change time
+  for (auto&& obs : observations2.getObservations())
+  {
+      obs.time.sec +=10;
+  }
+
+  Observations common1;
+  Observations common2;
+
+  Observations::findCommonObservations(observations1, observations2, common1, common2);
+
+  ASSERT_FALSE(common1 == common2);
+  ASSERT_TRUE(observations1 == common1);
+  ASSERT_TRUE(observations2 == common2);
+
   for (auto obs = common1.getObservations().begin(); obs != common1.getObservations().end(); ++obs)
   {
-      ASSERT_TRUE(equalObservations(common1.getObservationBySat(obs->sat), common2.getObservationBySat(obs->sat)));
-      ASSERT_TRUE(equalObservations(observations1.getObservationBySat(obs->sat), common1.getObservationBySat(obs->sat)));
-      ASSERT_TRUE(equalObservations(observations2.getObservationBySat(obs->sat), common2.getObservationBySat(obs->sat)));
+      const obsd_t& obs1 = common1.getObservationBySat(obs->sat);
+      const obsd_t& obs2 = common2.getObservationBySat(obs->sat);
+
+      ASSERT_FALSE(equalTime(obs1.time, obs2.time));
+      ASSERT_TRUE(equalTime(obs1.eventime, obs2.eventime));
+      ASSERT_TRUE(obs1.timevalid == obs2.timevalid);
+      ASSERT_TRUE(obs1.sat == obs2.sat);
+      ASSERT_TRUE(obs1.rcv == obs2.rcv);
+      ASSERT_TRUE(memcmp(obs1.SNR, obs2.SNR, sizeof(obs1.SNR)) == 0);
+      ASSERT_TRUE(memcmp(obs1.LLI, obs2.LLI, sizeof(obs1.LLI)) == 0);
+      ASSERT_TRUE(memcmp(obs1.code, obs2.code, sizeof(obs1.code)) == 0);
+      ASSERT_TRUE(memcmp(obs1.qualL, obs2.qualL, sizeof(obs1.qualL)) == 0);
+      ASSERT_TRUE(memcmp(obs1.qualP, obs2.qualP, sizeof(obs1.qualP)) == 0);
+      ASSERT_TRUE(obs1.freq == obs2.freq);
+      ASSERT_TRUE(equalArray<double>(obs1.L, obs2.L, sizeof(obs1.L) / sizeof(obs1.L[0]), sizeof(obs2.L) / sizeof(obs2.L[0])));
+      ASSERT_TRUE(equalArray<double>(obs1.P, obs2.P, sizeof(obs1.P) / sizeof(obs1.P[0]), sizeof(obs2.P) / sizeof(obs2.P[0])));
+      ASSERT_TRUE(equalArray<float>(obs1.D, obs2.D, sizeof(obs1.D) / sizeof(obs1.D[0]), sizeof(obs2.D) / sizeof(obs2.D[0])));
   }
 }
 
 int main(int argc, char** argv)
 {
   testing::InitGoogleTest(&argc, argv);
-  rnx_file = argv[1];
+  //rnx_file = argv[1];
   return RUN_ALL_TESTS();
 }