INSTINCT Code Coverage Report

Directory: src/
File: Nodes/DataProvider/GNSS/FileReader/EmlidFile.cpp
Date: 2025-07-19 10:51:51
Exec Total Coverage
Lines: 12 77 15.6%
Functions: 4 13 30.8%
Branches: 11 124 8.9%
Line Branch Exec Source
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 "EmlidFile.hpp"
10
11 #include "util/Logger.hpp"
12
13 #include "internal/NodeManager.hpp"
14 namespace nm = NAV::NodeManager;
15 #include "internal/FlowManager.hpp"
16
17 #include "util/Vendor/Emlid/EmlidUtilities.hpp"
18 #include "util/Time/TimeBase.hpp"
19
20 #include "NodeData/GNSS/EmlidObs.hpp"
21
22 114 NAV::EmlidFile::EmlidFile()
23
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 114 : Node(typeStatic()), _sensor(typeStatic())
24 {
25 LOG_TRACE("{}: called", name);
26
27 114 _hasConfig = true;
28 114 _guiConfigDefaultWindowSize = { 380, 70 };
29
30
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 342 nm::CreateOutputPin(this, "EmlidObs", Pin::Type::Flow, { NAV::EmlidObs::type() }, &EmlidFile::pollData);
31 228 }
32
33 228 NAV::EmlidFile::~EmlidFile()
34 {
35 LOG_TRACE("{}: called", nameId());
36 228 }
37
38 342 std::string NAV::EmlidFile::typeStatic()
39 {
40
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 684 return "EmlidFile";
41 }
42
43 ✗ std::string NAV::EmlidFile::type() const
44 {
45 ✗ return typeStatic();
46 }
47
48 114 std::string NAV::EmlidFile::category()
49 {
50
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 228 return "Data Provider";
51 }
52
53 ✗ void NAV::EmlidFile::guiConfig()
54 {
55 ✗ if (auto res = FileReader::guiConfig(".ubx,.*", { ".ubx" }, size_t(id), nameId()))
56 {
57 ✗ LOG_DEBUG("{}: Path changed to {}", nameId(), _path);
58 ✗ flow::ApplyChanges();
59 ✗ if (res == FileReader::PATH_CHANGED)
60 {
61 ✗ doReinitialize();
62 }
63 else
64 {
65 ✗ doDeinitialize();
66 }
67 }
68 ✗ }
69
70 ✗ [[nodiscard]] json NAV::EmlidFile::save() const
71 {
72 LOG_TRACE("{}: called", nameId());
73
74 ✗ json j;
75
76 ✗ j["FileReader"] = FileReader::save();
77
78 ✗ return j;
79 ✗ }
80
81 ✗ void NAV::EmlidFile::restore(json const& j)
82 {
83 LOG_TRACE("{}: called", nameId());
84
85 ✗ if (j.contains("FileReader"))
86 {
87 ✗ FileReader::restore(j.at("FileReader"));
88 }
89 ✗ }
90
91 ✗ bool NAV::EmlidFile::initialize()
92 {
93 LOG_TRACE("{}: called", nameId());
94
95 ✗ return FileReader::initialize();
96 }
97
98 ✗ void NAV::EmlidFile::deinitialize()
99 {
100 LOG_TRACE("{}: called", nameId());
101
102 ✗ FileReader::deinitialize();
103 ✗ }
104
105 ✗ bool NAV::EmlidFile::resetNode()
106 {
107 ✗ FileReader::resetReader();
108
109 ✗ return true;
110 }
111
112 ✗ std::shared_ptr<const NAV::NodeData> NAV::EmlidFile::pollData()
113 {
114 ✗ uint8_t i = 0;
115 ✗ std::unique_ptr<uart::protocol::Packet> packet = nullptr;
116 ✗ while (!eof() && read(reinterpret_cast<char*>(&i), 1))
117 {
118 ✗ packet = _sensor.findPacket(i);
119
120 ✗ if (packet != nullptr)
121 {
122 ✗ break;
123 }
124 }
125
126 ✗ if (!packet)
127 {
128 ✗ return nullptr;
129 }
130
131 // Check if package is empty
132 ✗ if (packet->getRawDataLength() == 0)
133 {
134 ✗ return nullptr;
135 }
136
137 ✗ auto obs = std::make_shared<EmlidObs>();
138 ✗ vendor::emlid::decryptEmlidObs(obs, *packet);
139
140 ✗ if (obs->insTime.empty())
141 {
142 ✗ if (auto currentTime = util::time::GetCurrentInsTime();
143 ✗ !currentTime.empty())
144 {
145 ✗ obs->insTime = currentTime;
146 }
147 }
148
149 ✗ invokeCallbacks(OUTPUT_PORT_INDEX_EMLID_OBS, obs);
150 ✗ return obs;
151 ✗ }
152
153 ✗ NAV::FileReader::FileType NAV::EmlidFile::determineFileType()
154 {
155 LOG_TRACE("called for {}", nameId());
156
157 ✗ auto filestream = std::ifstream(getFilepath());
158
159 ✗ constexpr uint16_t BUFFER_SIZE = 10;
160
161 ✗ std::array<char, BUFFER_SIZE> buffer{};
162 ✗ if (filestream.good())
163 {
164 ✗ filestream.read(buffer.data(), BUFFER_SIZE);
165
166 ✗ if ((static_cast<uint8_t>(buffer.at(0)) == vendor::emlid::EmlidUartSensor::BINARY_SYNC_CHAR_1
167 ✗ && static_cast<uint8_t>(buffer.at(1)) == vendor::emlid::EmlidUartSensor::BINARY_SYNC_CHAR_2)
168 ✗ || buffer.at(0) == vendor::emlid::EmlidUartSensor::ASCII_START_CHAR)
169 {
170 ✗ filestream.close();
171 ✗ LOG_DEBUG("{} has the file type: Binary", nameId());
172 ✗ return FileType::BINARY;
173 }
174 ✗ filestream.close();
175
176 ✗ LOG_ERROR("{} could not determine file type", nameId());
177 ✗ return FileType::NONE;
178 }
179
180 ✗ LOG_ERROR("{} could not open file {}", nameId(), getFilepath());
181 ✗ return FileType::NONE;
182 ✗ }
183