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Commit d438dde7 authored by Joan Vallvé Navarro's avatar Joan Vallvé Navarro
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test adapted to new api

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src/examples/gnss_utils_test.cpp
+ 17
− 169
View file @ d438dde7
......@@ -15,148 +15,33 @@ extern "C"
using namespace GNSSUtils;
int createObsAndNav(Observations& observations, const char* obs_path, Navigation& navigation, const char* nav_path)
int main(int argc, char *argv[])
{
// Time
double ts_d[] = {2018, 5, 17, 14, 1, 2};
gtime_t ts = epoch2time(ts_d);
double te_d[] = {2018, 5, 17, 14, 42, 8};
gtime_t te = epoch2time(te_d);
double tint = 0.1;
// Create options container
const char* opt = "-SYS=G";
// Create receiver identifier
int rcv = 1;
// Create object types
// rnxopt_t rnx_opt;
// Create obsd_t object to hold the observations
obs_t obs;
obs.data = (obsd_t *) malloc(sizeof(obsd_t)*MAXSAT);
obs.n = 0;
obs.nmax = MAXSAT;
/* header */
std::cout << "------------" << std::endl;
std::cout << "Observations" << std::endl;
std::cout << "------------" << std::endl;
if (readrnx(obs_path, rcv, opt, &obs, NULL, NULL))
{
sortobs(&obs);
//obs.data[0].P[0] = 21597659.275;
//obs.data[1].P[0] = 22348322.550;
//obs.data[2].P[0] = 20873167.574;
//obs.data[3].P[0] = 20920707.830;
std::cout << "Obs number: " << obs.n << std::endl;
}
else
{
std::cout << "Couldn't load provided observation file" << std::endl;
return 0;
}
for (int i=0; i < obs.n; i++)
{
std::cout << "time: " << time_str(obs.data[i].time, 3) << " | sat: " << int(obs.data[i].sat) << " | rcv: " << int(obs.data[i].rcv) <<
" | SNR: " << int(obs.data[i].SNR[0]) << " | LLI: " << int(obs.data[i].LLI[0]) << " | code: " << int(obs.data[i].code[0]) <<
" | L: " << obs.data[i].L[0] << " | P: " << obs.data[i].P[0] << " | D: " << obs.data[i].D[0] << std::endl;
observations.addObservation(obs.data[i]);
}
free(obs.data);
observations.print();
/* header */
std::cout << "----------" << std::endl;
std::cout << "Navigation" << std::endl;
std::cout << "----------" << std::endl;
/* Load _nav attribute into nav variable */
//nav_t nav = navigation.getNavigation();
if (readrnx(nav_path, 1, opt, NULL, &navigation.getNavigation(), NULL))
{
std::cout << "Navigation file loaded." << std::endl;
std::cout << "GPS satellites in navigation file: " << navigation.getNavigation().n << std::endl;
std::cout << "GLONASS satellites in navigation file: " << navigation.getNavigation().ng << std::endl;
std::cout << "SBAS satellites in navigation file: " << navigation.getNavigation().ns << std::endl;
std::cout << "Almanac satellites in navigation file: " << navigation.getNavigation().na << std::endl;
uniqnav(&navigation.getNavigation());
}
else
{
std::cout << "Couldn't load provided navigation file" << std::endl;
return 0;
}
/* Print Constellation Satellites ids */
for (int i=0;i<navigation.getNavigation().n;i++)
{
std::cout << i << " GPS Sat Id: " << navigation.getNavigation().eph[i].sat << std::endl;
}
for (int i=0;i<navigation.getNavigation().ng;i++)
{
std::cout << i << " GLONASS Sat Id: " << navigation.getNavigation().geph[i].sat << std::endl;
}
for (int i=0;i<navigation.getNavigation().ns;i++)
{
std::cout << i << " SBAS Sat Id: " << navigation.getNavigation().seph[i].sat << std::endl;
}
std::cout << "--------------------------" << std::endl;
std::cout << "GNSS Utils Library Example" << std::endl;
std::cout << "--------------------------" << std::endl;
/* Load nav into Navigation object*/
//navigation.setNavigation(nav);
std::cout << "Navigation message loaded to Navigation class." << std::endl;
// create Observations object
Observations observations;
return 1;
}
// create Navigation object
Navigation navigation;
void createObsAndNavNew(Observations& observations, const std::string& obs_path, Navigation& navigation, const std::string& nav_path)
{
gtime_t t_start{0,0}; // no limit
gtime_t t_end{0,0}; // no limit
double dt = 0.0; // no limit
const char* opt = "-SYS=G"; // only GPS | GPS+GAL: "-SYS=G,L" | ALL: ""
observations.loadFromRinex(obs_path, t_start, t_end, dt, opt);
// load observations from RINEX file
observations.loadFromRinex("../src/examples/raw_201805171357.obs", t_start, t_end, dt, opt);
observations.print();
navigation.loadFromRinex(nav_path, t_start, t_end, dt, opt);
// load navigation from RINEX file
navigation.loadFromRinex("../src/examples/raw_201805171357.nav", t_start, t_end, dt, opt);
navigation.print();
}
int main(int argc, char *argv[])
{
/* header */
std::cout << "--------------------------" << std::endl;
std::cout << "GNSS Utils Library Example" << std::endl;
std::cout << "--------------------------" << std::endl;
// create Observations object
Observations observations, observations2;
// create Navigation object
Navigation navigation,navigation2;
createObsAndNav(observations, "../src/examples/raw_201805171357.obs", navigation, "../src/examples/raw_201805171357.nav");
createObsAndNavNew(observations2, "../src/examples/raw_201805171357.obs", navigation2, "../src/examples/raw_201805171357.nav");
/* Set processing options */
......@@ -198,49 +83,12 @@ int main(int argc, char *argv[])
char msg[128]="";
std::cout << "OBS1:\n";
std::vector<obsd_t> obs = observations.getObservations();
for (int i=0; i < obs.size(); i++)
{
std::cout << "time: " << time_str(obs[i].time, 3) << " | sat: " << int(obs[i].sat) << " | rcv: " << int(obs[i].rcv) <<
" | SNR: " << int(obs[i].SNR[0]) << " | LLI: " << int(obs[i].LLI[0]) << " | code: " << int(obs[i].code[0]) <<
" | L: " << obs[i].L[0] << " | P: " << obs[i].P[0] << " | D: " << obs[i].D[0] << std::endl;
}
std::cout << "obs.size(): " << obs.size() << std::endl;
stat = pntpos(&obs[0], obs.size(), &navigation.getNavigation(), &prcopt, &solb, NULL, NULL, msg);
std::cout << "msg: " << msg << std::endl;
std::cout << "sol.stat: " << int(solb.stat) << std::endl;
std::cout << "Position: " << solb.rr[0] << ", " << solb.rr[1] << ", " << solb.rr[2] << std::endl;
std::cout << "Position GT: " << latLonToEcef(lla_gt).transpose() << std::endl;
std::cout << "Position LLA: " << ecefToLatLon(Eigen::Vector3d(solb.rr[0],solb.rr[1],solb.rr[2])).transpose() << std::endl;
std::cout << "Position GT LLA: " << lla_gt.transpose() << std::endl;
std::cout << "OBS2:\n";
std::vector<obsd_t> obs2 = observations2.getObservations();
for (int i=0; i < obs2.size(); i++)
{
std::cout << "time: " << time_str(obs2[i].time, 3) << " | sat: " << int(obs2[i].sat) << " | rcv: " << int(obs2[i].rcv) <<
" | SNR: " << int(obs2[i].SNR[0]) << " | LLI: " << int(obs2[i].LLI[0]) << " | code: " << int(obs2[i].code[0]) <<
" | L: " << obs2[i].L[0] << " | P: " << obs2[i].P[0] << " | D: " << obs2[i].D[0] << std::endl;
}
std::cout << "obs2.size(): " << obs2.size() << std::endl;
stat = pntpos(&obs2[0], obs2.size(), &navigation.getNavigation(), &prcopt, &solb, NULL, NULL, msg);
stat = pntpos(observations.data(), observations.size(), &navigation.getNavigation(), &prcopt, &solb, NULL, NULL, msg);
std::cout << "msg: " << msg << std::endl;
std::cout << "sol.stat: " << int(solb.stat) << std::endl;
std::cout << "Position: " << solb.rr[0] << ", " << solb.rr[1] << ", " << solb.rr[2] << std::endl;
std::cout << "Position GT: " << latLonToEcef(lla_gt).transpose() << std::endl;
std::cout << "Position LLA: " << ecefToLatLon(Eigen::Vector3d(solb.rr[0],solb.rr[1],solb.rr[2])).transpose() << std::endl;
std::cout << "Position GT LLA: " << lla_gt.transpose() << std::endl;
std::cout << "Position: " << solb.rr[0] << ", " << solb.rr[1] << ", " << solb.rr[2] << std::endl;
std::cout << "Position (GT): " << latLonToEcef(lla_gt).transpose() << std::endl;
std::cout << "Position LLA: " << ecefToLatLon(Eigen::Vector3d(solb.rr[0],solb.rr[1],solb.rr[2])).transpose() << std::endl;
std::cout << "Position LLA (GT): " << lla_gt.transpose() << std::endl;
}
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