Add fusion trajectory replay view

tests/main_window_tests.cpp

@@ -12,6 +12,7 @@
 #include <QTableView>
 #include <QTabWidget>
 #include <QSplitter>
+#include <QTemporaryFile>
 
 #include <cassert>
 
@@ -99,11 +100,48 @@ int main(int argc, char **argv)
     sendLine(window, QStringLiteral("NAV solve done"));
     flushUpdates(window);
     assert(table->model()->rowCount() == 1);
-    assert(table->model()->data(table->model()->index(0, 1)).toString()
-           == QStringLiteral("40.78925034214206846173"));
     assert(table->model()->data(table->model()->index(0, 2)).toString()
+           == QStringLiteral("40.78925034214206846173"));
+    assert(table->model()->data(table->model()->index(0, 3)).toString()
            == QStringLiteral("29.46277530841727809729"));
 
+    sendLine(window, QStringLiteral(
+        "[LOCATION] source=gps lat=40.1 lon=29.1 height=100 gdop=2 pdop=1.5 "
+        "hdop=1 vdop=1.2 tdop=0.8 tracked=5 used=5"));
+    sendLine(window, QStringLiteral(
+        "[LOCATION] source=imu_corrected lat=40.10001 lon=29.10001 height=100.2 "
+        "gdop=2 pdop=1.5 hdop=1 vdop=1.2 tdop=0.8 tracked=5 used=5"));
+    flushUpdates(window);
+    assert(table->model()->rowCount() == 3);
+    assert(table->model()->data(table->model()->index(1, 1)).toString()
+           == QStringLiteral("GPS"));
+    assert(table->model()->data(table->model()->index(2, 1)).toString()
+           == QStringLiteral("IMU corrected"));
+    sendLine(window, QStringLiteral(
+        "[LOCATION] source=trajectory lat=40.10002 lon=29.10002 height=100 tracked=4 used=4"));
+    flushUpdates(window);
+    assert(table->model()->rowCount() == 4);
+    assert(table->model()->data(table->model()->index(3, 1)).toString()
+           == QStringLiteral("Trajectory (truth)"));
+
+    QTemporaryFile replayLog;
+    assert(replayLog.open());
+    replayLog.write(
+        "[LOCATION] source=trajectory lat=40.0 lon=29.0 height=100 tracked=4 used=4\n"
+        "[LOCATION] source=gps lat=40.0001 lon=29.0001 height=104 tracked=4 used=4\n"
+        "[LOCATION] source=imu_corrected lat=40.00002 lon=29.00002 height=101 tracked=4 used=4\n");
+    replayLog.flush();
+    assert(window.loadTelemetryLog(replayLog.fileName()));
+    assert(table->model()->rowCount() == 3);
+    assert(table->model()->data(table->model()->index(0, 1)).toString()
+           == QStringLiteral("Trajectory (truth)"));
+
+    assert(QMetaObject::invokeMethod(&window, "clearPoints", Qt::DirectConnection));
+    sendLine(window, QStringLiteral(
+        "lat=40.78925034214206846173 long=29.46277530841727809729"));
+    flushUpdates(window);
+    assert(table->model()->rowCount() == 1);
+
     referenceLatInput->setText(QStringLiteral("40.78925034214206846173"));
     referenceLonInput->setText(QStringLiteral("29.46277530841727809729"));
     const bool referenceUpdated = QMetaObject::invokeMethod(

tests/parser_tests.cpp

@@ -179,6 +179,34 @@ int main(int argc, char **argv)
         assert(closeTo(*parsed->hheight, 198.80186179187148809433));
     }
 
+    {
+        const auto parsed = LocationParser::parseLine(QStringLiteral(
+            "[LOCATION] source=imu_corrected lat=40.7356 lon=31.5985 height=812.7 "
+            "gdop=4.7 pdop=4.1 hdop=2.7 vdop=3.0 tdop=2.3 tracked=6 used=5"));
+        assert(parsed.has_value());
+        assert(parsed->hasLocation());
+        assert(parsed->source == LocationSource::ImuCorrected);
+        assert(parsed->satellites == 6);
+        assert(closeTo(*parsed->dop.hdop, 2.7));
+    }
+
+    {
+        const auto parsed = LocationParser::parseLine(QStringLiteral(
+            "[LOCATION] source=gps lat=40.7357 lon=31.5986 height=811 tracked=5 used=5"));
+        assert(parsed.has_value());
+        assert(parsed->source == LocationSource::Gps);
+        assert(parsed->satellites == 5);
+    }
+
+    {
+        const auto parsed = LocationParser::parseLine(QStringLiteral(
+            "[LOCATION] source=trajectory lat=40.7358 lon=31.5987 height=810 tracked=4 used=4"));
+        assert(parsed.has_value());
+        assert(parsed->hasLocation());
+        assert(parsed->source == LocationSource::Trajectory);
+        assert(parsed->satellites == 4);
+    }
+
     const QString rinexPath = qEnvironmentVariable("LOCATION_PLOTTER_TEST_RINEX");
     if (!rinexPath.isEmpty()) {
         QFile file(rinexPath);