Testy

.gitattributes

@@ -0,0 +1 @@
+data/**/*.csv filter=lfs diff=lfs merge=lfs -text

MODULE.bazel

@@ -2,6 +2,29 @@ module(
     name = "bazel_apogeum",
     version = "0.1.0",
 )
+
 bazel_dep(name = "eigen", version = "4.0.0-20241125.bcr.2")
+bazel_dep(name = "googletest", version = "1.17.0.bcr.2", repo_name = "com_google_googletest")
 bazel_dep(name = "rules_cc", version = "0.0.17")
 
+# Importujemy regułę do pobierania paczek
+http_archive = use_repo_rule("@bazel_tools//tools/build_defs/repo:http.bzl", "http_archive")
+
+http_archive(
+    name = "moje_wielkie_dane",
+    url = "https://github.com/Simba-Avionic/srp-common/releases/download/v1.0/data.zip",
+    integrity = "sha256-1vPb5VyAvPpXCEAbIfftT7OJgjA9yYpdkZSrbALR3Jw=", 
+    patch_cmds = [
+        "rm -f data/BUILD.bazel data/BUILD",
+    ],
+    build_file_content = """
+filegroup(
+    name = "data_files",
+    srcs = glob([
+        "**/*.csv",
+        "**/*.txt",
+    ]),
+    visibility = ["//visibility:public"],
+)
+    """,
+)

README.md

@@ -0,0 +1,7 @@
+INSTRUKCJA DO TESTOWANIA WIELU PLIKÓW DO WYKRYWANIA APOGEUM:
+dane powinny znajdywać się w folderze /data w własnym folderze
+muszą być nazwane accelerometer.csv i barometer.csv
+na każdą parę musi być inny folder
+Program odpalać bazel run //app:testy
+
+żeby ręcznie odpalić testy należy teraz w folderze data utworzyć podane pliki data 

app/BUILD.bazel

@@ -1,15 +1,37 @@
-load("@rules_cc//cc:defs.bzl", "cc_binary")
+load("@rules_cc//cc:defs.bzl", "cc_test")
 
-cc_binary(
+cc_test(
     name = "main",
     srcs = ["main.cpp"],
     deps = ["//lib:apogee_lib"],
     data = ["//data:data_files"],
 )
 
-cc_binary(
+cc_test(
     name = "csv_apogee_test",
     srcs = ["apogee.cpp"],
     deps = ["//lib:apogee_lib"],
     data = ["//data:data_files"],
+)
+
+cc_test(
+    name = "testy",
+    srcs = ["testy.cpp"],
+    data = [
+        ":csv_apogee_test",  
+    ],
+)
+
+cc_test(
+    name = "test-cc",
+    srcs = [
+        "apogee_detector_test.cc"
+    ],
+    visibility = ["//visibility:public"],
+    deps = [
+        "@com_google_googletest//:gtest_main",
+        "//lib:apogee_lib",
+        "@bazel_tools//tools/cpp/runfiles", 
+    ],
+    data = ["@moje_wielkie_dane//:data_files"], 
 )

app/apogee.cpp

@@ -1,74 +1,80 @@
 #include <iostream>
 #include <fstream>
-#include <Eigen/Dense>
+#include <vector>
+#include <cmath> // dodane do std::abs
+#include "lib/Matrix.h"
 #include "lib/KalmanFilterR7.h"
 #include "lib/ApogeeDetector.h"
+#include "lib/DataLoader.h"
 
-std::vector<double> readColumnCSV(const std::string& path, size_t colIndex) {
-    std::vector<double> data;
-
-    try {
-        if (path.find("accelerometer") != std::string::npos) {
-            CsvReader<double, double, double, double> csvReader(path);
-            for (size_t i = 0; i < csvReader.rowCount(); ++i) {
-                auto row = csvReader[i];
-                switch (colIndex) {
-                    case 0: data.push_back(row.template get<0>()); break;
-                    case 1: data.push_back(row.template get<1>()); break;
-                    case 2: data.push_back(row.template get<2>()); break;
-                    case 3: data.push_back(row.template get<3>()); break;
-                    default: break;
-                }
-            }
-        } else if (path.find("barometer") != std::string::npos) {
-            CsvReader<double, double> csvReader(path);
-            for (size_t i = 0; i < csvReader.rowCount(); ++i) {
-                auto row = csvReader[i];
-                switch (colIndex) {
-                    case 0: data.push_back(row.template get<0>()); break;
-                    case 1: data.push_back(row.template get<1>()); break;
-                    default: break;
-                }
-            }
-        }
-    } catch (const std::exception& e) {
-        std::cerr << "Error reading CSV file " << path << ": " << e.what() << std::endl;
+int main(int argc, char *argv[])
+{
+    if (argc != 4 && argc != 1)
+    {
+        std::cerr << "Usage: " << argv[0] << " [barometer_file accelerometer_file config_file]\n";
+        return 1;
     }
-
-    return data;
-}
 
-int main() {
-    KalmanFilterR7 kf(0.1);
-    RealTimeApogee apogee(15, -0.5, 0.0);
+    std::string barometerPath = "data/barometer.csv";
+    std::string accelerometerPath = "data/accelerometer.csv";
+    std::string configPath = "data/config.txt";
+
+    if (argc == 4) {
+        barometerPath = argv[1];
+        accelerometerPath = argv[2];
+        configPath = argv[3];
+    }
+
+    // --- 1. Aktualizacja lub generowanie config.txt ---
+    checkAndGenerateConfig(configPath);
 
-    const double dt = 0.1;
+    // --- 2. Wczytanie przygotowanego configu ---
+    ConfigData config = readConfig(configPath);
 
-    std::vector<double> accelData = readColumnCSV("data/accelerometer.csv", 3);
-    std::vector<double> pressureData = readColumnCSV("data/barometer.csv", 1); 
+    const double dt = config.hz > 0 ? 1.0 / config.hz : 0.1;
+    KalmanFilterR7 kf(dt);
+    RealTimeApogee apogee(15, -0.5, 0.0);
 
-    if (accelData.empty() || pressureData.empty()) {
+    // --- 3. Wczytanie sensorów ---
+    std::vector<double> pressureData = readColumnCSV(barometerPath, 1);
+    std::vector<double> accelData = readColumnCSV(accelerometerPath, 3);
+
+    if (accelData.empty() || pressureData.empty())
+    {
         std::cerr << "Error: data is not loaded!\n";
         return 1;
     }
-
+    
     size_t dataSize = accelData.size();
 
+    // --- 4. Główna pętla detekcji ---
     for (size_t i = 0; i < dataSize; ++i) {
         double t = i * dt;
         double accel = accelData[i];
         double pressure = pressureData[i];
 
-        Eigen::Vector2d state = kf.processMeasurement(accel, pressure);
-        double height = state(0);
-        double velocity = state(1);
+        Matrix state = kf.processMeasurement(accel, pressure);
+        double height = state(0,0);
+        double velocity = state(1,0);
 
         apogee.update(height, velocity);
 
-        std::cout << "t=" << t << " s, h=" << height << " m, v=" << velocity << " m/s\n";
+        if (apogee.isApogeeReached()) { 
+            double apogeeheight = apogee.getApogee();
+            std::cout << ">>> Wykryto Apogeum: " << height << " m w czasie t = " << t << " s, max height: " << apogeeheight << " m\n";
 
-        if (apogee.isApogeeReached()) {
-            std::cout << ">>> Apogee reached: " << apogee.getApogee() << " meters\n";
+            if (config.loaded) {
+                double heightError = config.max_height_clean - height;
+                double heightErrorPct = (heightError / config.max_height_clean) * 100.0;
+                double timeError = config.time_to_apogee - t;
+                double timeErrorPct = (timeError / config.time_to_apogee) * 100.0;
+
+                std::cout << "\n--- Porównanie z danymi referencyjnymi (Config) ---\n";
+                std::cout << "Prawdziwa wys. (clean): " << config.max_height_clean << " m\n";
+                std::cout << "Błąd wysokości:         " << std::abs(heightError) << " m (" << std::abs(heightErrorPct) << "%)\n";
+                std::cout << "Prawdziwy czas:         " << config.time_to_apogee << " s\n";
+                std::cout << "Błąd czasu detekcji:    " << std::abs(timeError) << " s (" << std::abs(timeErrorPct) << "%)\n";
+            }
             break;
         }
     }