INSTINCT Code Coverage Report

Directory: src/
File: util/Logger/CommonLog.cpp
Date: 2025-07-19 10:51:51
Exec Total Coverage
Lines: 48 69 69.6%
Functions: 7 9 77.8%
Branches: 42 116 36.2%
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1 // This file is part of INSTINCT, the INS Toolkit for Integrated
2 // Navigation Concepts and Training by the Institute of Navigation of
3 // the University of Stuttgart, Germany.
4 //
5 // This Source Code Form is subject to the terms of the Mozilla Public
6 // License, v. 2.0. If a copy of the MPL was not distributed with this
7 // file, You can obtain one at https://mozilla.org/MPL/2.0/.
8
9 #include "CommonLog.hpp"
10
11 #include <imgui.h>
12
13 #include "Navigation/Ellipsoid/Ellipsoid.hpp"
14 #include "Navigation/Transformations/Units.hpp"
15
16 #include "util/Logger.hpp"
17
18 namespace NAV
19 {
20
21 ✗ json CommonLog::save()
22 {
23 ✗ json j;
24 ✗ j["useGuiInputs"] = _useGuiInputs;
25 ✗ if (_originPosition) { j["originPosition"] = *_originPosition; }
26
27 ✗ return j;
28 ✗ }
29
30 114 void CommonLog::restore(const json& j)
31 {
32
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 114 if (j.contains("useGuiInputs")) { j.at("useGuiInputs").get_to(_useGuiInputs); }
33 93 else { _useGuiInputs = false; }
34
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 114 if (j.contains("originPosition")) { _originPosition = j.at("originPosition").get<gui::widgets::PositionWithFrame>(); }
35 113 else { _originPosition.reset(); }
36 114 }
37
38 723 CommonLog::CommonLog()
39 {
40
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 723 std::scoped_lock lk(_mutex);
41 723 _index = _wantsInit.size(); // NOLINT(cppcoreguidelines-prefer-member-initializer)
42
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 723 _wantsInit.push_back(false);
43 723 }
44
45 1446 CommonLog::~CommonLog()
46 {
47 1446 std::scoped_lock lk(_mutex);
48 1446 _wantsInit.erase(_wantsInit.begin() + static_cast<int64_t>(_index));
49 1446 }
50
51 117 void CommonLog::initialize() const
52 {
53
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 117 std::scoped_lock lk(_mutex);
54
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 117 if (_useGuiInputs) { return; }
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 117 _wantsInit.at(_index) = true;
56
57
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 276 if (std::ranges::all_of(_wantsInit, [](bool val) { return val; }))
58 {
59
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 92 LOG_DEBUG("Resetting common log variables.");
60 92 _startTime.reset();
61
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 92 if (!_useGuiInputs)
62 {
63 92 _originPosition.reset();
64 }
65
66
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 92 std::ranges::fill(_wantsInit, false);
67 }
68 117 }
69
70 368566 double CommonLog::calcTimeIntoRun(const InsTime& insTime)
71 {
72
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 737132 if (std::scoped_lock lk(_mutex);
73 368566 _startTime.empty())
74 {
75 3 _startTime = insTime;
76
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 3 LOG_DEBUG("Common log setting start time to {} ({}) GPST.", _startTime.toYMDHMS(GPST), _startTime.toGPSweekTow(GPST));
77 368566 }
78
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 368566 return static_cast<double>((insTime - _startTime).count());
79 }
80
81 136504 CommonLog::LocalPosition CommonLog::calcLocalPosition(const Eigen::Vector3d& lla_position)
82 {
83 {
84
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 136504 std::scoped_lock lk(_mutex);
85
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 136504 if (!_originPosition.has_value())
86 {
87
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 2 if (lla_position.hasNaN())
88 {
89 ✗ LOG_WARN("Not setting common log origin to {}, {}, {} [deg, deg, m]",
90 rad2deg(lla_position.x()), rad2deg(lla_position.y()), lla_position.z());
91 }
92 else
93 {
94
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 2 _originPosition = gui::widgets::PositionWithFrame();
95
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 2 _originPosition->e_position = trafo::lla2ecef_WGS84(lla_position);
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 2 LOG_DEBUG("Common log setting position of origin to {}, {}, {} [deg, deg, m]",
97 rad2deg(lla_position.x()), rad2deg(lla_position.y()), lla_position.z());
98 }
99 }
100 136504 }
101
102 // North/South deviation [m]
103 136504 double northSouth = calcGeographicalDistance(lla_position.x(), lla_position.y(),
104 136504 _originPosition->latitude(), lla_position.y())
105
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 136504 * (lla_position.x() > _originPosition->latitude() ? 1 : -1);
106
107 // East/West deviation [m]
108 273008 double eastWest = calcGeographicalDistance(lla_position.x(), lla_position.y(),
109 136504 lla_position.x(), _originPosition->longitude())
110
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 136504 * (lla_position.y() > _originPosition->longitude() ? 1 : -1);
111
112 136504 return { .northSouth = northSouth, .eastWest = eastWest };
113 }
114
115 ✗ bool CommonLog::ShowOriginInput(const char* id)
116 {
117 ✗ bool changed = false;
118 ✗ if (ImGui::Checkbox(fmt::format("Override position origin (for all common logging)##{}", id).c_str(), &_useGuiInputs))
119 {
120 ✗ LOG_DEBUG("{}: useGuiInputs changed to {}", id, _useGuiInputs);
121 ✗ changed = true;
122 }
123 ✗ if (_useGuiInputs)
124 {
125 ✗ if (!_originPosition) { _originPosition = gui::widgets::PositionWithFrame(); }
126 ✗ ImGui::Indent();
127 ✗ std::scoped_lock lk(_mutex);
128 ✗ if (gui::widgets::PositionInput(fmt::format("Origin##{}", id).c_str(), _originPosition.value(), gui::widgets::PositionInputLayout::SINGLE_ROW))
129 {
130 ✗ changed = true;
131 }
132 ✗ ImGui::Unindent();
133 ✗ }
134
135 ✗ return changed;
136 }
137
138 } // namespace NAV
139