diff --git a/include/gnss_utils/navigation.h b/include/gnss_utils/navigation.h
index 95b3ad0bc97ebd26873098b857bb3447003a1f3c..ccd1ac812fcd829e5ffcca14021d0fc15c65e595 100644
--- a/include/gnss_utils/navigation.h
+++ b/include/gnss_utils/navigation.h
@@ -6,6 +6,7 @@
#include <memory>
#include "gnss_utils/gnss_utils.h"
+#include "gnss_utils/utils/utils.h"
namespace GnssUtils
{
@@ -65,12 +66,6 @@ public:
void print();
//////////////////////////////// nav UTILS //////////////////////////////////////
- template <typename T>
- static bool addToArray(const T& new_element, T*& array, int& n, int& nmax);
- template <typename T>
- static bool copyArray(const T* array_in, const int& n_in, T*& array_out, int& n_out, int& nmax_out);
- template <typename T>
- static void freeArray(T*& array, int& n, int& nmax);
static void freeEph(nav_t& nav);
static void freeGeph(nav_t& nav);
static void freeSeph(nav_t& nav);
@@ -245,67 +240,6 @@ inline void Navigation::freeAlmanac()
}
//////////////////////////////// nav UTILS //////////////////////////////////////
-template <typename T>
-inline bool Navigation::addToArray(const T& new_element, T*& array, int& n, int& nmax)
-{
- // std::cout << "addToArray: n = " << n << " nmax = " << nmax << "\n";
- // "inspired" from RTKLIB rinex.c
- T* array_ref;
- if (nmax <= n)
- {
- // std::cout << "addToArray: nmax <= n\n";
- nmax += 1024;
- if (!(array_ref = (T*)realloc(array, sizeof(T) * nmax)))
- {
- printf("addToArray malloc error: n=%d\n", nmax);
- free(array);
- array = NULL;
- n = nmax = 0;
- return false;
- }
- // std::cout << "addToArray: assigning reallocated array\n";
- array = array_ref;
- }
- // std::cout << "addToArray: adding element " << n << "\n";
- array[n++] = new_element;
- // std::cout << "addToArray: added!\n";
- return true;
-}
-
-template <typename T>
-inline bool Navigation::copyArray(const T* array_in, const int& n_in, T*& array_out, int& n_out, int& nmax_out)
-{
- // std::cout << "copyArray: " << n_in << " elements\n";
- if (array_in == NULL)
- return false;
-
- // std::cout << "copyArray: array in not null\n";
-
- for (int i = 0; i < n_in; i++)
- {
- // std::cout << "copyArray: adding element " << i << "\n";
- if (!addToArray<T>(array_in[i], array_out, n_out, nmax_out))
- {
- // std::cout << "copyArray: failed to add..\n";
- return false;
- }
- // std::cout << "copyArray: n_out = " << n_out << " nmax_out = " << nmax_out << "\n";
- }
-
- // std::cout << "copyArray: all copied\n";
-
- return true;
-}
-
-template <typename T>
-void Navigation::freeArray(T*& array, int& n, int& nmax)
-{
- if (array != NULL)
- free(array);
- array = NULL;
- n = nmax = 0;
-}
-
inline void Navigation::freeEph(nav_t& nav)
{
freeArray<eph_t>(nav.eph, nav.n, nav.nmax);
diff --git a/include/gnss_utils/observations.h b/include/gnss_utils/observations.h
index f3a0846a26a39cdca1d688f3684e759452331f99..7e6328607715cb44088428bfb9bc0a3e4f9625f2 100644
--- a/include/gnss_utils/observations.h
+++ b/include/gnss_utils/observations.h
@@ -24,12 +24,6 @@ public:
Observations(const Observations& obs);
~Observations();
- // Public objects
-
- // Public methods
-
- /* - Observations - */
-
void clearObservations();
void addObservation(const obsd_t& obs);
@@ -55,7 +49,7 @@ public:
bool hasSatellite(const unsigned char& i) const;
- void print(obsd_t& _obs);
+ static void print(obsd_t& _obs);
void printBySat(const int& _sat);
void printByIdx(const int& _idx);
void print();
@@ -137,4 +131,4 @@ inline bool Observations::operator !=(const Observations &other_obs) const
}
} // namespace GnssUtils
-#endif // INCLUDE_GNSS_UTILS_OBSERVATIONS_H_
+#endif // INCLUDE_GNSS_UTILS_OBSERVATIONS_H_
diff --git a/include/gnss_utils/utils/utils.h b/include/gnss_utils/utils/utils.h
index ad1c627f68272fd3aa425e0028c99cdba8354b1b..06eba1b1861a2b9a82ee7272fc7743f7810a234c 100644
--- a/include/gnss_utils/utils/utils.h
+++ b/include/gnss_utils/utils/utils.h
@@ -10,6 +10,8 @@
#include "gnss_utils/gnss_utils.h"
#define ARRAY_SIZE(arr) sizeof(arr) / sizeof(arr[0])
+#define ARRAY2D_NROWS(arr) sizeof(arr) / sizeof(arr[0])
+#define ARRAY2D_NCOLS(arr) sizeof(arr[0]) / sizeof(arr[0][0])
#define GNSSUTILS_MSG "--GnssUtils--"
namespace GnssUtils
@@ -21,27 +23,176 @@ void printArray(std::string _name, double* _array, int size);
void printArray(std::string _name, float* _array, int size);
template <typename T>
-bool equalArray(const T* array1, const T* array2, const int& size1, const int& size2)
+inline bool addToArray(const T& new_element, T*& array, int& n, int& nmax)
{
- if (size1 != size2)
+ // std::cout << "addToArray: n = " << n << " nmax = " << nmax << "\n";
+ // "inspired" from RTKLIB rinex.c
+ T* array_ref;
+ if (nmax <= n)
+ {
+ // std::cout << "addToArray: nmax <= n\n";
+ nmax += 1024;
+ if (!(array_ref = (T*)realloc(array, sizeof(T) * nmax)))
+ {
+ printf("addToArray malloc error: n=%d\n", nmax);
+ free(array);
+ array = NULL;
+ n = nmax = 0;
+ return false;
+ }
+ // std::cout << "addToArray: assigning reallocated array\n";
+ array = array_ref;
+ }
+ // std::cout << "addToArray: adding element " << n << "\n";
+ array[n++] = new_element;
+ // std::cout << "addToArray: added!\n";
+ return true;
+}
+
+template <typename T>
+inline bool copyArray(const T* array_in, const int& n_in, T*& array_out, int& n_out, int& nmax_out)
+{
+ // std::cout << "copyArray: " << n_in << " elements\n";
+ if (array_in == NULL)
+ return false;
+
+ // std::cout << "copyArray: array in not null\n";
+
+ for (int i = 0; i < n_in; i++)
+ {
+ // std::cout << "copyArray: adding element " << i << "\n";
+ if (!addToArray<T>(array_in[i], array_out, n_out, nmax_out))
+ {
+ // std::cout << "copyArray: failed to add..\n";
+ return false;
+ }
+ // std::cout << "copyArray: n_out = " << n_out << " nmax_out = " << nmax_out << "\n";
+ }
+
+ // std::cout << "copyArray: all copied\n";
+
+ return true;
+}
+
+template <typename T>
+void freeArray(T*& array, int& n, int& nmax)
+{
+ if (array != NULL)
+ free(array);
+ array = NULL;
+ n = nmax = 0;
+}
+
+template <typename T>
+bool equalArray(const T* array_1, const T* array_2, const int& n1, const int& n2)
+{
+ if (n1 != n2)
return false;
- for (int ii = 0; ii < size1; ++ii)
+ for (int i = 0; i < n1; ++i)
{
- if (array1[ii] != array2[ii])
+ if (array_1[i] != array_2[i])
return false;
}
return true;
}
+template <typename T>
+bool equalArray2d(const T* array_1,
+ const T* array_2,
+ const int& nrow_1,
+ const int& ncol_1,
+ const int& nrow_2,
+ const int& ncol_2)
+{
+ if (nrow_1 != nrow_2)
+ return false;
+ if (ncol_1 != ncol_2)
+ return false;
+
+ for (int i = 0; i < nrow_1; ++i)
+ {
+ for (int j = 0; j < ncol_1; ++j)
+ {
+ if (*(array_1 + i * ncol_1 + j) != *(array_2 + i * ncol_1 + j))
+ return false;
+ }
+ }
+
+ return true;
+}
+
+template <typename T>
+bool equalArray3d(const T* array_1,
+ const T* array_2,
+ const int& nmat_1,
+ const int& nrow_1,
+ const int& ncol_1,
+ const int& nmat_2,
+ const int& nrow_2,
+ const int& ncol_2)
+{
+ if (nmat_1 != nmat_2)
+ return false;
+ if (nrow_1 != nrow_2)
+ return false;
+ if (ncol_1 != ncol_2)
+ return false;
+
+ for (int i = 0; i < nmat_1; ++i)
+ {
+ for (int j = 0; j < nrow_1; ++j)
+ {
+ for (int k = 0; k < ncol_1; ++k)
+ {
+ if (*(array_1 + i * ncol_1 * nrow_1 + j * ncol_1 + k) != *(array_2 + i * ncol_1 * nrow_1 + j * ncol_1 + k))
+ return false;
+ }
+ }
+ }
+
+ return true;
+}
+
} // namespace GnssUtils
bool operator==(const gtime_t& time1, const gtime_t& time2);
bool operator!=(const gtime_t& time1, const gtime_t& time2);
+
bool operator==(const obsd_t& obs1, const obsd_t& obs2);
bool operator!=(const obsd_t& obs1, const obsd_t& obs2);
bool operator==(const obs_t& obs1, const obs_t& obs2);
bool operator!=(const obs_t& obs1, const obs_t& obs2);
+bool operator==(const eph_t& eph1, const eph_t& eph2);
+bool operator!=(const eph_t& eph1, const eph_t& eph2);
+
+bool operator==(const geph_t& geph1, const geph_t& geph2);
+bool operator!=(const geph_t& geph1, const geph_t& geph2);
+
+bool operator==(const seph_t& seph1, const seph_t& seph2);
+bool operator!=(const seph_t& seph1, const seph_t& seph2);
+
+bool operator==(const peph_t& peph1, const peph_t& peph2);
+bool operator!=(const peph_t& peph1, const peph_t& peph2);
+
+bool operator==(const pclk_t& pclk1, const pclk_t& pclk2);
+bool operator!=(const pclk_t& pclk1, const pclk_t& pclk2);
+
+bool operator==(const alm_t& alm1, const alm_t& alm2);
+bool operator!=(const alm_t& alm1, const alm_t& alm2);
+
+bool operator==(const tec_t& tec1, const tec_t& tec2);
+bool operator!=(const tec_t& tec1, const tec_t& tec2);
+
+bool operator==(const fcbd_t& fcbd1, const fcbd_t& fcbd2);
+bool operator!=(const fcbd_t& fcbd1, const fcbd_t& fcbd2);
+
+bool operator==(const erp_t& erp1, const erp_t& erp2);
+bool operator!=(const erp_t& erp1, const erp_t& erp2);
+
+bool operator==(const nav_t& nav1, const nav_t& nav2);
+bool operator!=(const nav_t& nav1, const nav_t& nav2);
+
#endif // INCLUDE_GNSS_UTILS_UTILS_UTILS_H_
diff --git a/src/examples/gnss_utils_test.cpp b/src/examples/gnss_utils_test.cpp
index 1a59e2d85c7b3b41404f808283866c07703ec8a1..fba3b7f10045cd17d2238b30834b8f0c8f53e6f6 100644
--- a/src/examples/gnss_utils_test.cpp
+++ b/src/examples/gnss_utils_test.cpp
@@ -32,21 +32,23 @@ int main(int argc, char* argv[])
double dt = 0.0; // no limit
const char* opt = ""; // only GPS | GPS+GAL: "-SYS=G,L" | ALL: ""
- // RTKLIB trace
- // char str_file[80];
- // snprintf(str_file, sizeof str_file, "../src/examples/trace");
-
// load observations from RINEX file
observations.loadFromRinex("../src/examples/sample_data.obs", t_start, t_end, dt, opt);
observations.print();
- // Trace close
- // traceclose();
+ // RTKLIB trace
+ // char str_file[80];
+ // snprintf(str_file, sizeof str_file, "../src/examples/trace");
+ // tracelevel(5);
+ // traceopen(str_file);
// load navigation from RINEX file
navigation.loadFromRinex("../src/examples/sample_data.nav", t_start, t_end, dt, opt);
navigation.print();
+ // Trace close
+ // traceclose();
+
/* Set processing options */
/* header */
diff --git a/src/examples/trace b/src/examples/trace
new file mode 100644
index 0000000000000000000000000000000000000000..362c7af58c323df3a6d40b9e316a4b74679ddb30
--- /dev/null
+++ b/src/examples/trace
@@ -0,0 +1,86 @@
+3 readrnxt: file=../src/examples/sample_data.nav rcv=1
+3 expath : path=../src/examples/sample_data.nav nmax=1024
+3 expath : file=../src/examples/sample_data.nav
+3 readrnxfile: file=../src/examples/sample_data.nav flag=0 index=1
+3 rtk_uncompress: file=../src/examples/sample_data.nav
+3 rtk_uncompress: stat=0
+3 readrnxfp: flag=0 index=1
+3 readrnxh:
+4 decode_navh:
+4 decode_navh:
+4 decode_navh:
+4 decode_navh:
+4 decode_navh:
+4 decode_navh:
+4 decode_navh:
+4 decode_navh:
+3 readrnxnav: ver=3.04 sys=0
+4 readrnxnavb: ver=3.04 sys=0
+4 readrnxnavb: ver=3.04 sys=0
+4 readrnxnavb: ver=3.04 sys=0
+4 readrnxnavb: ver=3.04 sys=0
+4 readrnxnavb: ver=3.04 sys=0
+4 readrnxnavb: ver=3.04 sys=0
+4 readrnxnavb: ver=3.04 sys=0
+4 readrnxnavb: ver=3.04 sys=0
+4 readrnxnavb: ver=3.04 sys=0
+4 readrnxnavb: ver=3.04 sys=0
+4 readrnxnavb: ver=3.04 sys=0
+4 readrnxnavb: ver=3.04 sys=0
+4 readrnxnavb: ver=3.04 sys=0
+4 readrnxnavb: ver=3.04 sys=0
+4 readrnxnavb: ver=3.04 sys=0
+4 readrnxnavb: ver=3.04 sys=0
+4 readrnxnavb: ver=3.04 sys=0
+4 readrnxnavb: ver=3.04 sys=0
+4 readrnxnavb: ver=3.04 sys=0
+4 readrnxnavb: ver=3.04 sys=0
+4 readrnxnavb: ver=3.04 sys=0
+4 readrnxnavb: ver=3.04 sys=0
+4 readrnxnavb: ver=3.04 sys=0
+4 readrnxnavb: ver=3.04 sys=0
+4 readrnxnavb: ver=3.04 sys=0
+4 readrnxnavb: ver=3.04 sys=0
+4 readrnxnavb: ver=3.04 sys=0
+4 readrnxnavb: ver=3.04 sys=0
+4 readrnxnavb: ver=3.04 sys=0
+4 readrnxnavb: ver=3.04 sys=0
+4 readrnxnavb: ver=3.04 sys=0
+4 readrnxnavb: ver=3.04 sys=0
+4 readrnxnavb: ver=3.04 sys=0
+4 readrnxnavb: ver=3.04 sys=0
+4 readrnxnavb: ver=3.04 sys=0
+4 readrnxnavb: ver=3.04 sys=0
+4 readrnxnavb: ver=3.04 sys=0
+4 readrnxnavb: ver=3.04 sys=0
+4 readrnxnavb: ver=3.04 sys=0
+4 decode_seph: ver=3.04 sat=49
+4 readrnxnavb: ver=3.04 sys=0
+4 decode_seph: ver=3.04 sat=38
+4 readrnxnavb: ver=3.04 sys=0
+4 decode_seph: ver=3.04 sat=36
+4 readrnxnavb: ver=3.04 sys=0
+4 decode_seph: ver=3.04 sat=49
+4 readrnxnavb: ver=3.04 sys=0
+4 decode_seph: ver=3.04 sat=36
+4 readrnxnavb: ver=3.04 sys=0
+4 decode_seph: ver=3.04 sat=36
+4 readrnxnavb: ver=3.04 sys=0
+4 decode_seph: ver=3.04 sat=49
+4 readrnxnavb: ver=3.04 sys=0
+4 decode_seph: ver=3.04 sat=49
+4 readrnxnavb: ver=3.04 sys=0
+4 decode_seph: ver=3.04 sat=36
+4 readrnxnavb: ver=3.04 sys=0
+4 readrnxnavb: ver=3.04 sys=0
+4 readrnxnavb: ver=3.04 sys=0
+4 readrnxnavb: ver=3.04 sys=0
+4 readrnxnavb: ver=3.04 sys=0
+4 readrnxnavb: ver=3.04 sys=0
+4 readrnxnavb: ver=3.04 sys=0
+4 readrnxnavb: ver=3.04 sys=0
+3 uniqnav: neph=0 ngeph=0 nseph=9
+3 uniqeph: n=0
+3 uniqgeph: ng=0
+3 uniqseph: ns=9
+4 uniqseph: ns=9
diff --git a/src/navigation.cpp b/src/navigation.cpp
index 66b861b71dc5587eb3bbb80b2dee0f43084ad40b..e71bbce021ceac1064d11e879d2523818d672a70 100644
--- a/src/navigation.cpp
+++ b/src/navigation.cpp
@@ -5,32 +5,44 @@ using namespace GnssUtils;
Navigation::Navigation()
{
// array initialization
- nav_.n = nav_.nmax = nav_.ng = nav_.ngmax = nav_.ns = nav_.nsmax = nav_.ne = nav_.nemax = nav_.nc = nav_.ncmax =
- nav_.na = nav_.namax = nav_.nt = nav_.ntmax = nav_.nf = nav_.nfmax = 0;
- nav_.eph = NULL;
- nav_.geph = NULL;
- nav_.seph = NULL;
- nav_.peph = NULL;
- nav_.pclk = NULL;
- nav_.alm = NULL;
- nav_.tec = NULL;
- nav_.fcb = NULL;
+ nav_.n = nav_.nmax = 0;
+ nav_.ng = nav_.ngmax = 0;
+ nav_.ns = nav_.nsmax = 0;
+ nav_.ne = nav_.nemax = 0;
+ nav_.nc = nav_.ncmax = 0;
+ nav_.na = nav_.namax = 0;
+ nav_.nt = nav_.ntmax = 0;
+ nav_.nf = nav_.nfmax = 0;
+ nav_.eph = NULL;
+ nav_.geph = NULL;
+ nav_.seph = NULL;
+ nav_.peph = NULL;
+ nav_.pclk = NULL;
+ nav_.alm = NULL;
+ nav_.tec = NULL;
+ nav_.fcb = NULL;
clearNavigation();
}
Navigation::Navigation(const Navigation& nav)
{
// array initialization
- nav_.n = nav_.nmax = nav_.ng = nav_.ngmax = nav_.ns = nav_.nsmax = nav_.ne = nav_.nemax = nav_.nc = nav_.ncmax =
- nav_.na = nav_.namax = nav_.nt = nav_.ntmax = nav_.nf = nav_.nfmax = 0;
- nav_.eph = NULL;
- nav_.geph = NULL;
- nav_.seph = NULL;
- nav_.peph = NULL;
- nav_.pclk = NULL;
- nav_.alm = NULL;
- nav_.tec = NULL;
- nav_.fcb = NULL;
+ nav_.n = nav_.nmax = 0;
+ nav_.ng = nav_.ngmax = 0;
+ nav_.ns = nav_.nsmax = 0;
+ nav_.ne = nav_.nemax = 0;
+ nav_.nc = nav_.ncmax = 0;
+ nav_.na = nav_.namax = 0;
+ nav_.nt = nav_.ntmax = 0;
+ nav_.nf = nav_.nfmax = 0;
+ nav_.eph = NULL;
+ nav_.geph = NULL;
+ nav_.seph = NULL;
+ nav_.peph = NULL;
+ nav_.pclk = NULL;
+ nav_.alm = NULL;
+ nav_.tec = NULL;
+ nav_.fcb = NULL;
clearNavigation();
setNavigation(nav.getNavigation());
}
@@ -130,7 +142,8 @@ void Navigation::loadFromRinex(const std::string& rnx_file, gtime_t t_start, gti
uniqueNavigation();
}
else
- std::cout << "Navigation: couldn't load provided observation file, reason: " << (stat == 0 ? "no data" : "error") << std::endl;
+ std::cout << "Navigation: couldn't load provided observation file, reason: " << (stat == 0 ? "no data" : "error")
+ << std::endl;
}
void Navigation::copyAllArrays(const nav_t& nav)
diff --git a/src/observations.cpp b/src/observations.cpp
index 8f04ec1a62c866e58f074ef2468ade3a48ba5af7..f9d1e9393c8e0e34bbaa7ae53824c299676ef233 100644
--- a/src/observations.cpp
+++ b/src/observations.cpp
@@ -156,14 +156,18 @@ void Observations::removeObservationBySat(const int& _sat)
assert(sat_2_idx_.size() == obs_.size());
}
-void Observations::print(obsd_t& _obs)
+static void Observations::print(obsd_t& _obs)
{
std::string msg = "Observation of satellite #" + std::to_string(_obs.sat);
GnssUtils::print(msg);
std::cout << "Time [s]: " << _obs.time.time << " + " << _obs.time.sec << "\n";
+ std::cout << "Time valid: " << _obs.timevalid << std::endl;
printArray("SNR: ", _obs.SNR, ARRAY_SIZE(_obs.SNR));
printArray("LLI: ", _obs.LLI, ARRAY_SIZE(_obs.LLI));
printArray("code: ", _obs.code, ARRAY_SIZE(_obs.code));
+ printArray("code: ", _obs.qualL, ARRAY_SIZE(_obs.qualL));
+ printArray("code: ", _obs.qualP, ARRAY_SIZE(_obs.qualP));
+ printf("Freq. channel: %uc \n", _obs.freq);
printArray("L: ", _obs.L, ARRAY_SIZE(_obs.L));
printArray("P: ", _obs.P, ARRAY_SIZE(_obs.P));
printArray("D: ", _obs.D, ARRAY_SIZE(_obs.D));
diff --git a/src/utils/utils.cpp b/src/utils/utils.cpp
index 8e7c1225b63ee88fbda04b94ff78cc1a222f776d..49a7f38dcc83cf51ce95897a1d0ba89a29918d27 100644
--- a/src/utils/utils.cpp
+++ b/src/utils/utils.cpp
@@ -67,47 +67,333 @@ bool operator==(const gtime_t& time1, const gtime_t& time2)
{
return (difftime(time1.time, time2.time) == 0.0 && time1.sec == time2.sec);
}
-
bool operator!=(const gtime_t& time1, const gtime_t& time2)
{
- return not (time1 == time2);
+ return not(time1 == time2);
}
bool operator==(const obsd_t& obs1, const obsd_t& obs2)
{
- return obs1.time == obs2.time &&
- obs1.eventime == obs2.eventime &&
- obs1.timevalid == obs2.timevalid &&
- obs1.sat == obs2.sat &&
- obs1.rcv == obs2.rcv &&
- memcmp(obs1.SNR, obs2.SNR, sizeof(obs1.SNR)) == 0 &&
- memcmp(obs1.LLI, obs2.LLI, sizeof(obs1.LLI)) == 0 &&
- memcmp(obs1.code, obs2.code, sizeof(obs1.code)) == 0 &&
- memcmp(obs1.qualL, obs2.qualL, sizeof(obs1.qualL)) == 0 &&
- memcmp(obs1.qualP, obs2.qualP, sizeof(obs1.qualP)) == 0 &&
+ return obs1.time == obs2.time && obs1.eventime == obs2.eventime && obs1.timevalid == obs2.timevalid &&
+ obs1.sat == obs2.sat && obs1.rcv == obs2.rcv &&
+ GnssUtils::equalArray<unsigned char>(obs1.SNR, obs2.SNR, ARRAY_SIZE(obs1.SNR), ARRAY_SIZE(obs2.SNR)) &&
+ GnssUtils::equalArray<unsigned char>(obs1.LLI, obs2.LLI, ARRAY_SIZE(obs1.LLI), ARRAY_SIZE(obs2.LLI)) &&
+ GnssUtils::equalArray<unsigned char>(obs1.code, obs2.code, ARRAY_SIZE(obs1.code), ARRAY_SIZE(obs2.code)) &&
+ GnssUtils::equalArray<unsigned char>(obs1.qualL, obs2.qualL, ARRAY_SIZE(obs1.qualL), ARRAY_SIZE(obs2.qualL)) &&
+ GnssUtils::equalArray<unsigned char>(obs1.qualP, obs2.qualP, ARRAY_SIZE(obs1.qualP), ARRAY_SIZE(obs2.qualP)) &&
obs1.freq == obs2.freq &&
- GnssUtils::equalArray<double>(obs1.L, obs2.L, sizeof(obs1.L) / sizeof(obs1.L[0]), sizeof(obs2.L) / sizeof(obs2.L[0])) &&
- GnssUtils::equalArray<double>(obs1.P, obs2.P, sizeof(obs1.P) / sizeof(obs1.P[0]), sizeof(obs2.P) / sizeof(obs2.P[0])) &&
- GnssUtils::equalArray<float>(obs1.D, obs2.D, sizeof(obs1.D) / sizeof(obs1.D[0]), sizeof(obs2.D) / sizeof(obs2.D[0]));
+ GnssUtils::equalArray<double>(obs1.L, obs2.L, ARRAY_SIZE(obs1.L), ARRAY_SIZE(obs2.L)) &&
+ GnssUtils::equalArray<double>(obs1.P, obs2.P, ARRAY_SIZE(obs1.P), ARRAY_SIZE(obs2.P)) &&
+ GnssUtils::equalArray<float>(obs1.D, obs2.D, ARRAY_SIZE(obs1.D), ARRAY_SIZE(obs2.D));
}
-
bool operator!=(const obsd_t& obs1, const obsd_t& obs2)
{
- return not (obs1 == obs2);
+ return not(obs1 == obs2);
}
bool operator==(const obs_t& obs1, const obs_t& obs2)
{
- return obs1.n == obs2.n &&
- obs1.nmax == obs2.nmax &&
- obs1.flag == obs2.flag &&
- obs1.rcvcount == obs2.rcvcount &&
- obs1.tmcount == obs2.tmcount &&
- *(obs1.data) == *(obs2.data);
-}
+ if (obs1.n != obs2.n)
+ return false;
+ for (int i = 0; i < obs1.n; ++i)
+ {
+ if (obs1.data[i] != obs2.data[i])
+ return false;
+ }
+ return obs1.nmax == obs2.nmax && obs1.flag == obs2.flag && obs1.rcvcount == obs2.rcvcount &&
+ obs1.tmcount == obs2.tmcount;
+}
bool operator!=(const obs_t& obs1, const obs_t& obs2)
{
- return not (obs1 == obs2);
+ return not(obs1 == obs2);
+}
+
+bool operator==(const eph_t& eph1, const eph_t& eph2)
+{
+ return eph1.sat == eph2.sat && eph1.iode == eph2.iode && eph1.iodc == eph2.iodc && eph1.sva == eph2.sva &&
+ eph1.svh == eph2.svh && eph1.week == eph2.week && eph1.code == eph2.code && eph1.flag == eph2.flag &&
+ eph1.toe == eph2.toe && eph1.toc == eph2.toc && eph1.ttr == eph2.ttr && eph1.A == eph2.A && eph1.e == eph2.e &&
+ eph1.i0 == eph2.i0 && eph1.OMG0 == eph2.OMG0 && eph1.omg == eph2.omg && eph1.M0 == eph2.M0 &&
+ eph1.deln == eph2.deln && eph1.OMGd == eph2.OMGd && eph1.idot == eph2.idot && eph1.crc == eph2.crc &&
+ eph1.crs == eph2.crs && eph1.cuc == eph2.cuc && eph1.cus == eph2.cus && eph1.cic == eph2.cic &&
+ eph1.cis == eph2.cis && eph1.toes == eph2.toes && eph1.fit == eph2.fit && eph1.f0 == eph2.f0 &&
+ eph1.f1 == eph2.f1 && eph1.f2 == eph2.f2 &&
+ GnssUtils::equalArray<double>(eph1.tgd, eph2.tgd, ARRAY_SIZE(eph1.tgd), ARRAY_SIZE(eph2.tgd)) &&
+ eph1.Adot == eph2.Adot && eph1.ndot == eph2.ndot;
+}
+bool operator!=(const eph_t& eph1, const eph_t& eph2)
+{
+ return not(eph1 == eph2);
+}
+
+bool operator==(const geph_t& geph1, const geph_t& geph2)
+{
+ return geph1.sat == geph2.sat && geph1.iode == geph2.iode && geph1.frq == geph2.frq && geph1.svh == geph2.svh &&
+ geph1.sva == geph2.sva && geph1.age == geph2.age && geph1.toe == geph2.toe && geph1.tof == geph2.tof &&
+ GnssUtils::equalArray<double>(geph1.pos, geph2.pos, ARRAY_SIZE(geph1.pos), ARRAY_SIZE(geph2.pos)) &&
+ GnssUtils::equalArray<double>(geph1.vel, geph2.vel, ARRAY_SIZE(geph1.vel), ARRAY_SIZE(geph2.vel)) &&
+ GnssUtils::equalArray<double>(geph1.acc, geph2.acc, ARRAY_SIZE(geph1.acc), ARRAY_SIZE(geph2.acc)) &&
+ geph1.taun == geph2.taun && geph1.gamn == geph2.gamn && geph1.dtaun == geph2.dtaun;
+}
+bool operator!=(const geph_t& geph1, const geph_t& geph2)
+{
+ return not(geph1 == geph2);
+}
+
+bool operator==(const seph_t& seph1, const seph_t& seph2)
+{
+ return seph1.sat == seph2.sat && seph1.t0 == seph2.t0 && seph1.tof == seph2.tof && seph1.sva == seph2.sva &&
+ seph1.svh == seph2.svh &&
+ GnssUtils::equalArray<double>(seph1.pos, seph2.pos, ARRAY_SIZE(seph1.pos), ARRAY_SIZE(seph2.pos)) &&
+ GnssUtils::equalArray<double>(seph1.vel, seph2.vel, ARRAY_SIZE(seph1.vel), ARRAY_SIZE(seph2.vel)) &&
+ GnssUtils::equalArray<double>(seph1.acc, seph2.acc, ARRAY_SIZE(seph1.acc), ARRAY_SIZE(seph2.acc)) &&
+ seph1.af0 == seph2.af0 && seph1.af1 == seph2.af1;
+}
+bool operator!=(const seph_t& seph1, const seph_t& seph2)
+{
+ return not(seph1 == seph2);
+}
+
+bool operator==(const peph_t& peph1, const peph_t& peph2)
+{
+ return peph1.time == peph2.time && peph1.index == peph2.index &&
+ GnssUtils::equalArray2d<double>(&peph1.pos[0][0],
+ &peph2.pos[0][0],
+ ARRAY2D_NROWS(peph1.pos),
+ ARRAY2D_NCOLS(peph1.pos),
+ ARRAY2D_NROWS(peph2.pos),
+ ARRAY2D_NCOLS(peph2.pos)) &&
+ GnssUtils::equalArray2d<float>(&peph1.std[0][0],
+ &peph2.std[0][0],
+ ARRAY2D_NROWS(peph1.std),
+ ARRAY2D_NCOLS(peph1.std),
+ ARRAY2D_NROWS(peph2.std),
+ ARRAY2D_NCOLS(peph2.std)) &&
+ GnssUtils::equalArray2d<double>(&peph1.vel[0][0],
+ &peph2.vel[0][0],
+ ARRAY2D_NROWS(peph1.vel),
+ ARRAY2D_NCOLS(peph1.vel),
+ ARRAY2D_NROWS(peph2.vel),
+ ARRAY2D_NCOLS(peph2.vel)) &&
+ GnssUtils::equalArray2d<float>(&peph1.vst[0][0],
+ &peph2.vst[0][0],
+ ARRAY2D_NROWS(peph1.vst),
+ ARRAY2D_NCOLS(peph1.vst),
+ ARRAY2D_NROWS(peph2.vst),
+ ARRAY2D_NCOLS(peph2.vst)) &&
+ GnssUtils::equalArray2d<float>(&peph1.cov[0][0],
+ &peph2.cov[0][0],
+ ARRAY2D_NROWS(peph1.cov),
+ ARRAY2D_NCOLS(peph1.cov),
+ ARRAY2D_NROWS(peph2.cov),
+ ARRAY2D_NCOLS(peph2.cov)) &&
+ GnssUtils::equalArray2d<float>(&peph1.vco[0][0],
+ &peph2.vco[0][0],
+ ARRAY2D_NROWS(peph1.vco),
+ ARRAY2D_NCOLS(peph1.vco),
+ ARRAY2D_NROWS(peph2.vco),
+ ARRAY2D_NCOLS(peph2.vco));
+}
+bool operator!=(const peph_t& peph1, const peph_t& peph2)
+{
+ return not(peph1 == peph2);
+}
+
+bool operator==(const pclk_t& pclk1, const pclk_t& pclk2)
+{
+ return pclk1.time == pclk2.time && pclk1.index == pclk2.index &&
+ GnssUtils::equalArray2d<double>(&pclk1.clk[0][0],
+ &pclk2.clk[0][0],
+ ARRAY2D_NROWS(pclk1.clk),
+ ARRAY2D_NCOLS(pclk1.clk),
+ ARRAY2D_NROWS(pclk2.clk),
+ ARRAY2D_NCOLS(pclk2.clk)) &&
+ GnssUtils::equalArray2d<float>(&pclk1.std[0][0],
+ &pclk2.std[0][0],
+ ARRAY2D_NROWS(pclk1.std),
+ ARRAY2D_NCOLS(pclk1.std),
+ ARRAY2D_NROWS(pclk2.std),
+ ARRAY2D_NCOLS(pclk2.std));
+}
+bool operator!=(const pclk_t& pclk1, const pclk_t& pclk2)
+{
+ return not(pclk1 == pclk2);
+}
+
+bool operator==(const alm_t& alm1, const alm_t& alm2)
+{
+ return alm1.sat == alm2.sat && alm1.svh == alm2.svh && alm1.svconf == alm2.svconf && alm1.week == alm2.week &&
+ alm1.toa == alm2.toa && alm1.A == alm2.A && alm1.e == alm2.e && alm1.i0 == alm2.i0 && alm1.OMG0 == alm2.OMG0 &&
+ alm1.omg == alm2.omg && alm1.M0 == alm2.M0 && alm1.OMGd == alm2.OMGd && alm1.toas == alm2.toas &&
+ alm1.f0 == alm2.f0 && alm1.f1 == alm2.f1;
+}
+bool operator!=(const alm_t& alm1, const alm_t& alm2)
+{
+ return not(alm1 == alm2);
}
+bool operator==(const tec_t& tec1, const tec_t& tec2)
+{
+ return tec1.time == tec2.time &&
+ GnssUtils::equalArray<int>(tec1.ndata, tec2.ndata, ARRAY_SIZE(tec1.ndata), ARRAY_SIZE(tec2.ndata)) &&
+ tec1.rb == tec2.rb &&
+ GnssUtils::equalArray<double>(tec1.lats, tec2.lats, ARRAY_SIZE(tec1.lats), ARRAY_SIZE(tec2.lats)) &&
+ GnssUtils::equalArray<double>(tec1.lons, tec2.lons, ARRAY_SIZE(tec1.lons), ARRAY_SIZE(tec2.lons)) &&
+ GnssUtils::equalArray<double>(tec1.hgts, tec2.hgts, ARRAY_SIZE(tec1.hgts), ARRAY_SIZE(tec2.hgts));
+ // TODO: *data and *rms
+}
+bool operator!=(const tec_t& tec1, const tec_t& tec2)
+{
+ return not(tec1 == tec2);
+}
+
+bool operator==(const fcbd_t& fcbd1, const fcbd_t& fcbd2)
+{
+ return fcbd1.ts == fcbd2.ts && fcbd1.te == fcbd2.te &&
+ GnssUtils::equalArray2d<double>(&fcbd1.bias[0][0],
+ &fcbd2.bias[0][0],
+ ARRAY2D_NROWS(fcbd1.bias),
+ ARRAY2D_NCOLS(fcbd1.bias),
+ ARRAY2D_NROWS(fcbd2.bias),
+ ARRAY2D_NCOLS(fcbd2.bias)) &&
+ GnssUtils::equalArray2d<double>(&fcbd1.std[0][0],
+ &fcbd2.std[0][0],
+ ARRAY2D_NROWS(fcbd1.std),
+ ARRAY2D_NCOLS(fcbd1.std),
+ ARRAY2D_NROWS(fcbd2.std),
+ ARRAY2D_NCOLS(fcbd2.std));
+}
+bool operator!=(const fcbd_t& fcbd1, const fcbd_t& fcbd2)
+{
+ return not(fcbd1 == fcbd2);
+}
+
+bool operator==(const erp_t& erp1, const erp_t& erp2)
+{
+ // TODO
+ return true;
+}
+bool operator!=(const erp_t& erp1, const erp_t& erp2)
+{
+ return not(erp1 == erp2);
+}
+
+bool operator==(const nav_t& nav1, const nav_t& nav2)
+{
+ if (nav1.n != nav2.n)
+ return false;
+ for (int i = 0; i < nav1.n; ++i)
+ {
+ if (nav1.eph[i] != nav2.eph[i])
+ return false;
+ }
+
+ if (nav1.ng != nav2.ng)
+ return false;
+ for (int i = 0; i < nav1.ng; ++i)
+ {
+ if (nav1.geph[i] != nav2.geph[i])
+ return false;
+ }
+
+ if (nav1.ns != nav2.ns)
+ return false;
+ for (int i = 0; i < nav1.ns; ++i)
+ {
+ if (nav1.seph[i] != nav2.seph[i])
+ return false;
+ }
+
+ if (nav1.ne != nav2.ne)
+ return false;
+ for (int i = 0; i < nav1.ne; ++i)
+ {
+ if (nav1.peph[i] != nav2.peph[i])
+ return false;
+ }
+
+ if (nav1.nc != nav2.nc)
+ return false;
+ for (int i = 0; i < nav1.nc; ++i)
+ {
+ if (nav1.pclk[i] != nav2.pclk[i])
+ return false;
+ }
+
+ if (nav1.na != nav2.na)
+ return false;
+ for (int i = 0; i < nav1.na; ++i)
+ {
+ if (nav1.alm[i] != nav2.alm[i])
+ return false;
+ }
+
+ if (nav1.nt != nav2.nt)
+ return false;
+ for (int i = 0; i < nav1.nt; ++i)
+ {
+ if (nav1.tec[i] != nav2.tec[i])
+ return false;
+ }
+
+ if (nav1.nf != nav2.nf)
+ return false;
+ for (int i = 0; i < nav1.nf; ++i)
+ {
+ if (nav1.fcb[i] != nav2.fcb[i])
+ return false;
+ }
+
+ // erp to do
+
+ return nav1.nmax == nav2.nmax && nav1.ngmax == nav2.ngmax && nav1.nsmax == nav2.nsmax && nav1.nemax == nav2.nemax &&
+ nav1.ncmax == nav2.ncmax && nav1.namax == nav2.namax && nav1.ntmax == nav2.ntmax && nav1.nfmax == nav2.nfmax &&
+ nav1.erp == nav2.erp &&
+ GnssUtils::equalArray<double>(
+ nav1.utc_gps, nav2.utc_gps, ARRAY_SIZE(nav1.utc_gps), ARRAY_SIZE(nav2.utc_gps)) &&
+ GnssUtils::equalArray<double>(
+ nav1.utc_glo, nav2.utc_glo, ARRAY_SIZE(nav1.utc_glo), ARRAY_SIZE(nav2.utc_glo)) &&
+ GnssUtils::equalArray<double>(
+ nav1.utc_gal, nav2.utc_gal, ARRAY_SIZE(nav1.utc_gal), ARRAY_SIZE(nav2.utc_gal)) &&
+ GnssUtils::equalArray<double>(
+ nav1.utc_qzs, nav2.utc_qzs, ARRAY_SIZE(nav1.utc_qzs), ARRAY_SIZE(nav2.utc_qzs)) &&
+ GnssUtils::equalArray<double>(
+ nav1.utc_cmp, nav2.utc_cmp, ARRAY_SIZE(nav1.utc_cmp), ARRAY_SIZE(nav2.utc_cmp)) &&
+ GnssUtils::equalArray<double>(
+ nav1.utc_irn, nav2.utc_irn, ARRAY_SIZE(nav1.utc_irn), ARRAY_SIZE(nav2.utc_irn)) &&
+ GnssUtils::equalArray<double>(
+ nav1.utc_sbs, nav2.utc_sbs, ARRAY_SIZE(nav1.utc_sbs), ARRAY_SIZE(nav2.utc_sbs)) &&
+ GnssUtils::equalArray<double>(
+ nav1.ion_gps, nav2.ion_gps, ARRAY_SIZE(nav1.ion_gps), ARRAY_SIZE(nav2.ion_gps)) &&
+ GnssUtils::equalArray<double>(
+ nav1.ion_gal, nav2.ion_gal, ARRAY_SIZE(nav1.ion_gal), ARRAY_SIZE(nav2.ion_gal)) &&
+ GnssUtils::equalArray<double>(
+ nav1.ion_qzs, nav2.ion_qzs, ARRAY_SIZE(nav1.ion_qzs), ARRAY_SIZE(nav2.ion_qzs)) &&
+ GnssUtils::equalArray<double>(
+ nav1.ion_cmp, nav2.ion_cmp, ARRAY_SIZE(nav1.ion_cmp), ARRAY_SIZE(nav2.ion_cmp)) &&
+ GnssUtils::equalArray<double>(
+ nav1.ion_irn, nav2.ion_irn, ARRAY_SIZE(nav1.ion_irn), ARRAY_SIZE(nav2.ion_irn)) &&
+ nav1.leaps == nav2.leaps &&
+ GnssUtils::equalArray2d<double>(&nav1.lam[0][0],
+ &nav2.lam[0][0],
+ ARRAY2D_NROWS(nav1.lam),
+ ARRAY2D_NCOLS(nav1.lam),
+ ARRAY2D_NROWS(nav2.lam),
+ ARRAY2D_NCOLS(nav2.lam)) &&
+ GnssUtils::equalArray2d<double>(&nav1.cbias[0][0],
+ &nav2.cbias[0][0],
+ ARRAY2D_NROWS(nav1.cbias),
+ ARRAY2D_NCOLS(nav1.cbias),
+ ARRAY2D_NROWS(nav2.cbias),
+ ARRAY2D_NCOLS(nav2.cbias)) &&
+ GnssUtils::equalArray3d<double>(&nav1.rbias[0][0][0], &nav2.rbias[0][0][0], MAXRCV, 2, 3, MAXRCV, 2, 3) &&
+ GnssUtils::equalArray<double>(nav1.wlbias, nav2.wlbias, ARRAY_SIZE(nav1.wlbias), ARRAY_SIZE(nav2.wlbias)) &&
+ GnssUtils::equalArray<double>(
+ nav1.glo_cpbias, nav2.glo_cpbias, ARRAY_SIZE(nav1.glo_cpbias), ARRAY_SIZE(nav2.glo_cpbias)) &&
+ GnssUtils::equalArray<char>(nav1.glo_fcn, nav2.glo_fcn, ARRAY_SIZE(nav1.glo_fcn), ARRAY_SIZE(nav2.glo_fcn));
+}
+bool operator!=(const nav_t& nav1, const nav_t& nav2)
+{
+ return not(nav1 == nav2);
+}
\ No newline at end of file
diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
index 171992abf5ce4898215379e0e2aefe609dd3a7e7..e7ef282189d9297ca55770cbad6e797b36cad125 100644
--- a/test/CMakeLists.txt
+++ b/test/CMakeLists.txt
@@ -18,4 +18,8 @@ target_link_libraries(gtest_transformations ${PROJECT_NAME})
# Observations test
gnss_utils_add_gtest(gtest_observations gtest_observations.cpp)
-target_link_libraries(gtest_observations libgtest ${PROJECT_NAME})
\ No newline at end of file
+target_link_libraries(gtest_observations libgtest ${PROJECT_NAME})
+
+# Navigation test
+gnss_utils_add_gtest(gtest_navigation gtest_navigation.cpp)
+target_link_libraries(gtest_navigation libgtest ${PROJECT_NAME})
\ No newline at end of file
diff --git a/test/gtest_navigation.cpp b/test/gtest_navigation.cpp
index 5170cf11310248899fd967b3b870f974a6368b2f..359e44eadaedbcf266f243a6268d17d188cf9b08 100644
--- a/test/gtest_navigation.cpp
+++ b/test/gtest_navigation.cpp
@@ -1,12 +1,35 @@
#include "gtest/utils_gtest.h"
-#include "gnss_utils/gnss_utils.h"
+#include "gnss_utils/utils/utils.h"
+#include "gnss_utils/navigation.h"
-TEST(NavigationTests, Whatever)
+using namespace GnssUtils;
+std::string rnx_file = std::string(_GNSS_UTILS_ROOT_DIR) + "/test/data/sample_data.nav";
+const gtime_t t_start{ 0, 0 }; // no limit
+const gtime_t t_end{ 0, 0 }; // no limit
+const double dt = 0.0; // no limit
+const char* opt = ""; // only GPS | GPS+GAL: "-SYS=G,L" | ALL: ""
+
+void loadRinex(nav_t& nav)
{
-
+ int stat = readrnxt(rnx_file.c_str(), 1, t_start, t_end, dt, opt, NULL, &nav, NULL);
+
+ ASSERT_EQ(stat, 1);
+ uniqnav(&nav);
+}
+
+TEST(NavigationTests, setgetNavigation)
+{
+ nav_t nav;
+ loadRinex(nav);
+
+ Navigation navigation;
+
+ navigation.setNavigation(nav);
+ ASSERT_TRUE(navigation.getNavigation() == nav);
+ Navigation::freeNavArrays(nav);
}
-int main(int argc, char **argv)
+int main(int argc, char** argv)
{
testing::InitGoogleTest(&argc, argv);
return RUN_ALL_TESTS();
diff --git a/test/gtest_observations.cpp b/test/gtest_observations.cpp
index 5d2de7aab2437b85c303c968fd696844ccf058eb..422a28c68d9be9fbf3798422328a058db8219a24 100644
--- a/test/gtest_observations.cpp
+++ b/test/gtest_observations.cpp
@@ -3,13 +3,12 @@
using namespace GnssUtils;
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
const double dt = 0.0; // no limit
-const char* opt = "-SYS=G"; // only GPS | GPS+GAL: "-SYS=G,L" | ALL: ""
+const char* opt = ""; // only GPS | GPS+GAL: "-SYS=G,L" | ALL: ""
-void loadRinex()
+void loadRinex(obs_t& obs)
{
// RTKLIB utilities
obs.data = (obsd_t*)malloc(sizeof(obsd_t) * MAXSAT);
@@ -24,7 +23,8 @@ void loadRinex()
TEST(ObservationsTest, AddClearObservation)
{
- loadRinex();
+ obs_t obs;
+ loadRinex(obs);
Observations observations;
@@ -44,19 +44,20 @@ TEST(ObservationsTest, AddClearObservation)
// Add duplicated observation (has to crash)
observations.addObservation(obs.data[0]);
- ASSERT_DEATH(observations.addObservation(obs.data[0]),"");
+ ASSERT_DEATH(observations.addObservation(obs.data[0]), "");
}
TEST(ObservationsTest, LoadFromRinex)
{
+ // RTKLIB utilities
+ obs_t obs;
+ loadRinex(obs);
+
// GnssUtils utilities
Observations observations;
observations.loadFromRinex(rnx_file.c_str(), t_start, t_end, dt, opt);
- observations.print();
- // RTKLIB utilities
- loadRinex();
- ASSERT_EQ(obs.n, 6);
+ ASSERT_EQ(obs.n, 18);
// Comparison
ASSERT_TRUE(obs.n == observations.getObservations().size());
@@ -70,7 +71,8 @@ TEST(ObservationsTest, LoadFromRinex)
TEST(ObservationsTest, GetObservationBySat)
{
- loadRinex();
+ obs_t obs;
+ loadRinex(obs);
Observations observations;
observations.loadFromRinex(rnx_file.c_str(), t_start, t_end, dt, opt);
@@ -79,39 +81,41 @@ TEST(ObservationsTest, GetObservationBySat)
{
ASSERT_TRUE(obs.data[ii] == observations.getObservationBySat(obs.data[ii].sat));
}
+ free(obs.data);
}
TEST(ObservationsTest, GetObservationByIdx)
{
- loadRinex();
+ obs_t obs;
+ loadRinex(obs);
Observations observations;
observations.loadFromRinex(rnx_file.c_str(), t_start, t_end, dt, opt);
for (int ii = 0; ii < obs.n; ++ii)
{
- // We do this check like this because both loading functions load the rinex file and then sort the observations
- ASSERT_TRUE( obs.data[ii] == observations.getObservationByIdx(ii));
+ ASSERT_TRUE(obs.data[ii] == observations.getObservationByIdx(ii));
}
}
TEST(ObservationsTest, data)
{
- loadRinex();
+ obs_t obs;
+ loadRinex(obs);
Observations observations;
observations.loadFromRinex(rnx_file.c_str(), t_start, t_end, dt, opt);
for (int ii = 0; ii < obs.n; ++ii)
{
- // We do this check like this because both loading functions load the rinex file and then sort the observations
- ASSERT_TRUE( obs.data[ii] == observations.data()[ii]);
+ ASSERT_TRUE(obs.data[ii] == observations.data()[ii]);
}
}
TEST(ObservationsTest, HasSatellite)
{
- loadRinex();
+ obs_t obs;
+ loadRinex(obs);
Observations observations;
observations.loadFromRinex(rnx_file.c_str(), t_start, t_end, dt, opt);
@@ -140,7 +144,6 @@ TEST(ObservationsTest, FindCommonObservations)
ASSERT_TRUE(observations2 == common2);
}
-
TEST(ObservationsTest, FindCommonObservationsRemoved)
{
Observations observations1;
@@ -158,7 +161,6 @@ TEST(ObservationsTest, FindCommonObservationsRemoved)
ASSERT_TRUE(common1 == common2);
ASSERT_FALSE(observations1 == common1);
ASSERT_TRUE(observations2 == common2);
-
}
TEST(ObservationsTest, FindCommonObservationsChangeTime)
@@ -170,7 +172,7 @@ TEST(ObservationsTest, FindCommonObservationsChangeTime)
// Change time
for (auto&& obs : observations2.getObservations())
{
- obs.time.sec +=10;
+ obs.time.sec += 10;
}
Observations common1;
@@ -184,29 +186,32 @@ TEST(ObservationsTest, FindCommonObservationsChangeTime)
for (auto obs = common1.getObservations().begin(); obs != common1.getObservations().end(); ++obs)
{
- const obsd_t& obs1 = common1.getObservationBySat(obs->sat);
- const obsd_t& obs2 = common2.getObservationBySat(obs->sat);
-
- ASSERT_FALSE(obs1.time == obs2.time);
- ASSERT_TRUE(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])));
+ const obsd_t& obs1 = common1.getObservationBySat(obs->sat);
+ const obsd_t& obs2 = common2.getObservationBySat(obs->sat);
+
+ ASSERT_FALSE(obs1.time == obs2.time);
+ ASSERT_TRUE(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();
}