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3a077df5f6
NMEA GPS class now uses threads to handle parsing NMEA sentences.
Currently only handles GGA, GSV, and GLL types. Added queues for
holding parsed data.
* Parsing thread
* Parse GPS Fix from GGA and GLL
* Parse satellite info from GSV
* Provide a queue for GPS fix data as well as raw sentences
(for debugging)
* Target structures and NMEAGPS class have a __str__() method
which summarizes the objects into a std::string. These are
tied to the __str__ method in python
* Added google unit test for the above functionality
Signed-off-by: Noel Eck <noel.eck@intel.com>
247 lines
7.5 KiB
C++
247 lines
7.5 KiB
C++
#include "gtest/gtest.h"
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#include "nmea_gps.hpp"
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#include "mraa.hpp"
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#include <algorithm>
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#include <random>
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/* NMEA GPS test fixture */
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class nmea_gps_unit : public ::testing::Test
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{
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protected:
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/* One-time setup logic if needed */
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nmea_gps_unit() = default;
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/* One-time tear-down logic if needed */
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~nmea_gps_unit() override = default;
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/* Fail if not MOCK platform */
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void SetUp() override
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{
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ASSERT_EQ(mraa::getPlatformType(), mraa::MOCK_PLATFORM) <<
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"NMEA_GPS test requires mraa compiled with mraa::MOCK_PLATFORM";
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}
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/* Per-test tear-down logic if needed */
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void TearDown() override {}
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};
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/* Basic tests */
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TEST_F(nmea_gps_unit, DOA)
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{
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upm::NMEAGPS gps(0, 115200, -1);
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/* Min queue size is 1 */
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gps.setMaxQueueDepth(0);
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ASSERT_EQ(gps.getMaxQueueDepth(), 1);
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/* Max queue size is 1000 */
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gps.setMaxQueueDepth(1001);
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ASSERT_EQ(gps.getMaxQueueDepth(), 1000);
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/* Queues should be empty */
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ASSERT_EQ(gps.fixQueueSize(), 0);
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ASSERT_EQ(gps.rawSentenceQueueSize(), 0);
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}
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/* Check parsing varying length sentences */
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TEST_F(nmea_gps_unit, parse_max_size)
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{
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upm::NMEAGPS gps(0, 115200, -1);
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/* Parse an sentence that is too long to be NMEA */
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gps.parseNMEASentence("$GPGSV,2,1,08,07,64,079,,08,39,066,,09,25,159,,09,25,159,,09,25,159,,09,25,159,,09,25,159,,09,25,159,,09,25,159,,07,64,079,*73");
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ASSERT_EQ(gps.rawSentenceQueueSize(), 1);
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ASSERT_EQ(gps.satellites().size(), 0);
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}
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/* Basic test */
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TEST_F(nmea_gps_unit, parse_basic)
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{
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upm::NMEAGPS gps(0, 115200, -1);
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/* Parse an invalid sentence */
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gps.parseNMEASentence("$GPGGA,182333.50,,,,,0,00,99.99,,,,,,*6B");
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}
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/* Parse an invalid sentence */
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TEST_F(nmea_gps_unit, parse_gps_fix_invalid)
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{
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upm::NMEAGPS gps(0, 115200, -1);
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/* Parse an invalid sentence */
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gps.parseNMEASentence("$GPGGA,182333.50,,,,,0,00,99.99,,,,,,*6B");
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/* Should be 1 entry in the raw queue */
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ASSERT_EQ(gps.rawSentenceQueueSize(), 1);
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/* Should be 0 in GPS fix queue */
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ASSERT_EQ(gps.fixQueueSize(), 0);
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/* Get the GPS fix */
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upm::gps_fix f = gps.getFix();
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ASSERT_EQ(f.valid, false);
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ASSERT_EQ(f.quality, upm::gps_fix_quality::no_fix);
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/* Call the string method for coverage */
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f.__str__();
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/* Get the 1 raw sentence */
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gps.getRawSentence();
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/* Should be 0 entries in each queue */
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ASSERT_EQ(gps.rawSentenceQueueSize(), 0);
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ASSERT_EQ(gps.fixQueueSize(), 0);
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}
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std::string randstr(size_t size)
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{
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std::string retstr(".", size);
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std::random_device rd;
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std::default_random_engine eng(rd());
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std::uniform_int_distribution<char> distr(32, 126);
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for (size_t i = 0; i < size; i++)
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retstr[i] = distr(eng);
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return retstr;
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}
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/* Parse bogus sentences */
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TEST_F(nmea_gps_unit, parse_gps_fix_bogus)
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{
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upm::NMEAGPS gps(0, 115200, -1);
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/* Parse some bogus sentences */
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std::string gga = "$GPGGA,182333.50,,,,,0,00,99.99,,,,,,*6B";
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gps.parseNMEASentence(gga);
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for (size_t i = 0; i < gga.size(); i++)
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{
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std::string tmp = gga;
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gps.parseNMEASentence(tmp.replace(i, 1, "x"));
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}
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for (int i = 0; i < 1000; i++)
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gps.parseNMEASentence(randstr(40));
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/* Still no GPS fix */
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ASSERT_EQ(gps.fixQueueSize(), 0);
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}
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/* Parse valid gga sentences */
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TEST_F(nmea_gps_unit, parse_gps_fix_valid)
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{
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upm::NMEAGPS gps(0, 115200, -1);
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/* Parse a valid sentence */
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gps.parseNMEASentence("$GPGGA,172814.0,3723.46587704,N,12202.26957864,W,"
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+ std::string("2,6,1.2,18.893,M,-25.669,M,2.0,0031*4F"));
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/* Should be 1 entry in GPS fix queue */
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ASSERT_EQ(gps.fixQueueSize(), 1);
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upm::gps_fix f = gps.getFix();
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ASSERT_EQ(f.valid, true) << f.__str__();
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}
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/* Parse valid gsv sentences */
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TEST_F(nmea_gps_unit, parse_gsv_valid)
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{
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upm::NMEAGPS gps(0, 115200, -1);
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std::vector<std::string> snts =
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{
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"$GPGSV,2,1,08,07,64,079,,08,39,066,,09,25,159,,11,15,117,*7B",
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"$GPGSV,2,2,08,13,25,313,,30,78,336,22,48,37,194,,51,35,158,*75",
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"$GPGSV,2,2,08,13,25,313,,30,78,336,21,48,37,194,,51,35,158,*76",
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"$GPGSV,2,2,08,13,25,313,,30,78,336,,48,37,194,,51,35,158,*75",
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"$GPGSV,2,1,08,07,64,079,,08,39,066,,09,25,159,,11,15,117,*7B",
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"$GPGSV,2,2,08,13,25,313,,30,78,336,21,48,37,194,,51,35,158,*76",
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"$GPGSV,2,2,08,13,25,313,,30,78,336,20,48,37,194,,51,35,158,*77",
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"$GPGSV,2,1,08,07,64,079,,08,39,066,,09,25,159,,11,15,117,*7B",
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"$GPGSV,2,2,08,13,25,313,,30,78,336,18,48,37,194,,51,35,158,*7C",
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"$GPGSV,2,2,08,13,25,313,,30,78,336,17,48,37,194,,51,35,158,*73",
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"$GPGSV,2,1,08,07,64,080,,08,39,066,,09,25,159,,11,15,117,*7D",
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"$GPGSV,2,2,08,13,26,313,,30,78,336,13,48,37,194,,51,35,158,*74",
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"$GPGSV,2,1,08,07,64,080,,08,39,066,,09,25,159,,11,15,117,*7D",
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"$GPGSV,2,2,08,13,26,313,,30,78,336,09,48,37,194,,51,35,158,*7F",
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"$GPGSV,2,1,08,07,64,080,,08,39,066,,09,25,160,,11,15,117,*77",
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"$GPGSV,2,2,08,13,26,313,,30,78,336,23,48,37,194,,51,35,158,*77",
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"$GPGSV,3,3,09,51,35,158,*4E",
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"$GPGSV,2,1,08,07,64,080,22,08,39,066,,09,25,160,,11,15,117,*77",
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"$GPGSV,2,1,08,07,64,080,21,08,39,066,,09,25,160,,11,15,117,*74"
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};
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/* Parse the first sentence */
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gps.parseNMEASentence(snts.front());
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/* Should have 4 satellites */
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auto sats = gps.satellites();
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ASSERT_EQ(sats.size(), 4);
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ASSERT_EQ(sats[0].prn, "07");
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ASSERT_EQ(sats[0].elevation_deg, 64);
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ASSERT_EQ(sats[0].azimuth_deg, 79);
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ASSERT_EQ(sats[0].snr, 0);
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ASSERT_EQ(sats[1].prn, "08");
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ASSERT_EQ(sats[1].elevation_deg, 39);
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ASSERT_EQ(sats[1].azimuth_deg, 66);
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ASSERT_EQ(sats[1].snr, 0);
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ASSERT_EQ(sats[2].prn, "09");
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ASSERT_EQ(sats[2].elevation_deg, 25);
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ASSERT_EQ(sats[2].azimuth_deg, 159);
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ASSERT_EQ(sats[2].snr, 0);
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ASSERT_EQ(sats[3].prn, "11");
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ASSERT_EQ(sats[3].elevation_deg, 15);
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ASSERT_EQ(sats[3].azimuth_deg, 117);
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ASSERT_EQ(sats[3].snr, 0);
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/* Parse the rest */
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for(const auto& sentence : snts)
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gps.parseNMEASentence(sentence);
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/* Finish up with 8 satellites */
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sats = gps.satellites();
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ASSERT_EQ(sats.size(), 8);
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/* Verify the last satellite */
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ASSERT_EQ(sats.back().prn, "11");
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ASSERT_EQ(sats.back().elevation_deg, 15);
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ASSERT_EQ(sats.back().azimuth_deg, 117);
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ASSERT_EQ(sats.back().snr, 0);
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/* The 4th should have a non-zero snr */
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ASSERT_EQ(sats[4].snr, 21);
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}
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/* Parse valid gll sentences */
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TEST_F(nmea_gps_unit, parse_gll_valid)
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{
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upm::NMEAGPS gps(0, 115200, -1);
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std::vector<std::string> snts =
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{
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"$GPGLL,4532.55107,N,12257.68422,W,170004.20,A,A*74",
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"$GPGLL,4532.55008,N,12257.68195,W,170005.00,A,A*70",
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"$GPGLL,4532.55027,N,12257.68252,W,170006.10,A,A*77",
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"$GPGLL,4532.54370,N,12257.65873,W,170006.90,A,A*7B",
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"$GPGLL,4532.54230,N,12257.65302,W,170008.00,A,A*74"
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};
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/* Parse the first sentence */
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gps.parseNMEASentence(snts.front());
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/* Get the fix */
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upm::gps_fix f = gps.getFix();
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ASSERT_EQ(f.valid, true) << f.__str__();
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ASSERT_FLOAT_EQ(f.coordinates.latitude, 45.542517833333335) << f.__str__();
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ASSERT_FLOAT_EQ(f.coordinates.longitude, -122.96140366666667) << f.__str__();
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ASSERT_EQ(f.time_utc, "170004.20") << f.__str__();
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/* Parse the rest */
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for(const auto& sentence : snts)
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gps.parseNMEASentence(sentence);
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/* Should have 5 GPS fixes */
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ASSERT_EQ(gps.fixQueueSize(), 5);
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}
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