INSTINCT Code Coverage Report

Directory: src/
File: Nodes/DataProcessor/GNSS/SinglePointPositioning.cpp
Date: 2025-07-19 10:51:51
Exec Total Coverage
Lines: 42 80 52.5%
Functions: 10 15 66.7%
Branches: 41 168 24.4%
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 "SinglePointPositioning.hpp"
10 #include <imgui.h>
11
12 #include "Navigation/GNSS/Positioning/SPP/Algorithm.hpp"
13 #include "NodeData/State/PosVel.hpp"
14 #include "internal/NodeManager.hpp"
15 #include <fmt/core.h>
16 namespace nm = NAV::NodeManager;
17 #include "internal/FlowManager.hpp"
18 #include "internal/gui/NodeEditorApplication.hpp"
19 #include "internal/gui/widgets/imgui_ex.hpp"
20
21 #include "Navigation/Constants.hpp"
22
23 #include "NodeData/GNSS/GnssObs.hpp"
24 #include "NodeData/GNSS/GnssNavInfo.hpp"
25 #include "NodeData/GNSS/SppSolution.hpp"
26
27 #include "util/Logger.hpp"
28 #include "util/Container/Vector.hpp"
29
30 122 NAV::SinglePointPositioning::SinglePointPositioning()
31
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 122 : Node(typeStatic())
32 {
33 LOG_TRACE("{}: called", name);
34
35 122 _hasConfig = true;
36 122 _guiConfigDefaultWindowSize = { 538, 536 };
37
38
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 366 nm::CreateInputPin(this, NAV::GnssObs::type().c_str(), Pin::Type::Flow, { NAV::GnssObs::type() }, &SinglePointPositioning::recvGnssObs);
39
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 122 _dynamicInputPins.addPin(this); // GnssNavInfo
40
41
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 488 nm::CreateOutputPin(this, NAV::SppSolution::type().c_str(), Pin::Type::Flow, { NAV::SppSolution::type() });
42 366 }
43
44 260 NAV::SinglePointPositioning::~SinglePointPositioning()
45 {
46 LOG_TRACE("{}: called", nameId());
47 260 }
48
49 236 std::string NAV::SinglePointPositioning::typeStatic()
50 {
51
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 472 return "SinglePointPositioning - SPP";
52 }
53
54 ✗ std::string NAV::SinglePointPositioning::type() const
55 {
56 ✗ return typeStatic();
57 }
58
59 114 std::string NAV::SinglePointPositioning::category()
60 {
61
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 228 return "Data Processor";
62 }
63
64 ✗ void NAV::SinglePointPositioning::guiConfig()
65 {
66 ✗ auto nSatColumnContent = [&](size_t pinIndex) -> bool {
67 ✗ if (auto gnssNavInfo = getInputValue<GnssNavInfo>(pinIndex))
68 {
69 ✗ size_t usedSatNum = 0;
70 ✗ std::string usedSats;
71 ✗ std::string allSats;
72
73 ✗ std::string filler = ", ";
74 ✗ for (const auto& satellite : gnssNavInfo->v->satellites())
75 {
76 ✗ if (_algorithm._obsFilter.isSatelliteAllowed(satellite.first))
77 {
78 ✗ usedSatNum++;
79 ✗ usedSats += (allSats.empty() ? "" : filler) + fmt::format("{}", satellite.first);
80 }
81 ✗ allSats += (allSats.empty() ? "" : filler) + fmt::format("{}", satellite.first);
82 }
83 ✗ ImGui::TextUnformatted(fmt::format("{} / {}", usedSatNum, gnssNavInfo->v->nSatellites()).c_str());
84 ✗ if (ImGui::IsItemHovered())
85 {
86 ✗ ImGui::SetTooltip("Used satellites: %s\n"
87 "Avail satellites: %s",
88 usedSats.c_str(), allSats.c_str());
89 }
90 ✗ }
91 ✗ return false;
92 ✗ };
93
94 ✗ if (_dynamicInputPins.ShowGuiWidgets(size_t(id), inputPins, this, { { .header = "# Sat", .content = nSatColumnContent } }))
95 {
96 ✗ flow::ApplyChanges();
97 }
98
99 ✗ ImGui::Separator();
100
101 // ###########################################################################################################
102
103 ✗ const float itemWidth = 280.0F * gui::NodeEditorApplication::windowFontRatio();
104 ✗ const float unitWidth = 100.0F * gui::NodeEditorApplication::windowFontRatio();
105
106 ✗ if (_algorithm.ShowGuiWidgets(nameId().c_str(), itemWidth, unitWidth))
107 {
108 ✗ flow::ApplyChanges();
109 }
110 ✗ }
111
112 ✗ [[nodiscard]] json NAV::SinglePointPositioning::save() const
113 {
114 LOG_TRACE("{}: called", nameId());
115
116 return {
117 ✗ { "dynamicInputPins", _dynamicInputPins },
118 ✗ { "algorithm", _algorithm },
119 ✗ };
120 ✗ }
121
122 8 void NAV::SinglePointPositioning::restore(json const& j)
123 {
124 LOG_TRACE("{}: called", nameId());
125
126
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 8 if (j.contains("dynamicInputPins")) { NAV::gui::widgets::from_json(j.at("dynamicInputPins"), _dynamicInputPins, this); }
127
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 8 if (j.contains("algorithm")) { j.at("algorithm").get_to(_algorithm); }
128 8 }
129
130 24 bool NAV::SinglePointPositioning::initialize()
131 {
132 LOG_TRACE("{}: called", nameId());
133
134
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 48 if (std::all_of(inputPins.begin() + INPUT_PORT_INDEX_GNSS_NAV_INFO, inputPins.end(), [](const InputPin& inputPin) { return !inputPin.isPinLinked(); }))
135 {
136 ✗ LOG_ERROR("{}: You need to connect a GNSS NavigationInfo provider", nameId());
137 ✗ return false;
138 }
139
140 24 _algorithm.reset();
141
142
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 24 LOG_DEBUG("{}: initialized", nameId());
143
144 24 return true;
145 }
146
147 8 void NAV::SinglePointPositioning::deinitialize()
148 {
149 LOG_TRACE("{}: called", nameId());
150 8 }
151
152 125 void NAV::SinglePointPositioning::pinAddCallback(Node* node)
153 {
154
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 500 nm::CreateInputPin(node, NAV::GnssNavInfo::type().c_str(), Pin::Type::Object, { NAV::GnssNavInfo::type() });
155 250 }
156
157 ✗ void NAV::SinglePointPositioning::pinDeleteCallback(Node* node, size_t pinIdx)
158 {
159 ✗ nm::DeleteInputPin(node->inputPins.at(pinIdx));
160 ✗ }
161
162 944 void NAV::SinglePointPositioning::recvGnssObs(NAV::InputPin::NodeDataQueue& queue, size_t /* pinIdx */)
163 {
164 // Collection of all connected navigation data providers
165 944 std::vector<InputPin::IncomingLink::ValueWrapper<GnssNavInfo>> gnssNavInfoWrappers;
166 944 std::vector<const GnssNavInfo*> gnssNavInfos;
167
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 2587 for (size_t i = 0; i < _dynamicInputPins.getNumberOfDynamicPins(); i++)
168 {
169
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 1643 if (auto gnssNavInfo = getInputValue<GnssNavInfo>(INPUT_PORT_INDEX_GNSS_NAV_INFO + i))
170 {
171
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 1643 gnssNavInfoWrappers.push_back(*gnssNavInfo);
172
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 1643 gnssNavInfos.push_back(gnssNavInfo->v);
173 1643 }
174 }
175
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 944 if (gnssNavInfos.empty()) { return; }
176
177
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 944 auto gnssObs = std::static_pointer_cast<const GnssObs>(queue.extract_front());
178 LOG_DATA("{}: [{}] Calculating SPP", nameId(), gnssObs->insTime.toYMDHMS(GPST));
179
180
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 944 if (auto sppSol = _algorithm.calcSppSolution(gnssObs, gnssNavInfos, nameId()))
181 {
182
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 944 invokeCallbacks(OUTPUT_PORT_INDEX_SPPSOL, sppSol);
183 944 }
184 944 }
185