111 lines
2.7 KiB
C++
111 lines
2.7 KiB
C++
|
#define CATCH_CONFIG_MAIN
|
||
|
|
#include "catch.hpp"
|
||
|
|
#include "commonTypes.h"
|
||
|
|
#include "can/canframes/CANFrame.h"
|
||
|
|
#include "gps/GpsConverter.h"
|
||
|
|
#include "ac/IGpsACPusher.h"
|
||
|
|
#include "CanTransceiverMock.h"
|
||
|
|
#include "busId/BusId.h"
|
||
|
|
|
||
|
|
using namespace gps;
|
||
|
|
using namespace common;
|
||
|
|
using namespace can;
|
||
|
|
|
||
|
|
namespace test
|
||
|
|
{
|
||
|
|
|
||
|
|
class GpsAcPusherMock : public gps::IGpsACPusher
|
||
|
|
{
|
||
|
|
public:
|
||
|
|
GpsAcPusherMock()
|
||
|
|
: gpsWasSet(false)
|
||
|
|
{}
|
||
|
|
virtual void pushGPSCoordinates(sint32 latMs, sint32 longMs)
|
||
|
|
{
|
||
|
|
printf("pushGPSCoordinates received: %d and %d\n", latMs, longMs);
|
||
|
|
gpsWasSet = true;
|
||
|
|
latitudeMs = latMs;
|
||
|
|
longitudeMs = longMs;
|
||
|
|
}
|
||
|
|
void clear()
|
||
|
|
{
|
||
|
|
gpsWasSet = false;
|
||
|
|
latitudeMs = 0;
|
||
|
|
longitudeMs = 0;
|
||
|
|
}
|
||
|
|
sint32 latitudeMs;
|
||
|
|
sint32 longitudeMs;
|
||
|
|
bool gpsWasSet;
|
||
|
|
};
|
||
|
|
class GpsConverterTest
|
||
|
|
{
|
||
|
|
public:
|
||
|
|
GpsConverterTest()
|
||
|
|
: canTransceiverMock()
|
||
|
|
, converter(canTransceiverMock, acPusherMock)
|
||
|
|
{}
|
||
|
|
|
||
|
|
virtual ~GpsConverterTest() {}
|
||
|
|
|
||
|
|
can::CanTransceiverMock canTransceiverMock;
|
||
|
|
GpsAcPusherMock acPusherMock;
|
||
|
|
GpsConverter converter;
|
||
|
|
};
|
||
|
|
|
||
|
|
static bool withinTolerance(sint32 x1, sint32 x2, sint32 tolerance)
|
||
|
|
{
|
||
|
|
return abs(x1-x2) < tolerance;
|
||
|
|
}
|
||
|
|
|
||
|
|
TEST_CASE_METHOD(GpsConverterTest, "london east calling", "[gps]")
|
||
|
|
{
|
||
|
|
uint8 payload[8] = { 0xDF, 0x48, 0xEA, 0xFF, 0x08, 0xC5, 0xA5, 0x24 };
|
||
|
|
CANFrame gpsInfo(0x34a, payload, 8);
|
||
|
|
converter.frameReceived(gpsInfo);
|
||
|
|
CHECK(acPusherMock.gpsWasSet);
|
||
|
|
CHECK(withinTolerance(acPusherMock.latitudeMs, 185528159, 100));
|
||
|
|
CHECK(withinTolerance(acPusherMock.longitudeMs, -429429, 100));
|
||
|
|
}
|
||
|
|
|
||
|
|
TEST_CASE_METHOD(GpsConverterTest, "london west calling", "[gps]")
|
||
|
|
{
|
||
|
|
uint8 payload[8] = { 0x1F, 0xB7, 0x15, 0x00, 0x08, 0xC5, 0xA5, 0x24 };
|
||
|
|
CANFrame gpsInfo(0x34a, payload, 8);
|
||
|
|
converter.frameReceived(gpsInfo);
|
||
|
|
SECTION("receive once")
|
||
|
|
{
|
||
|
|
CHECK(acPusherMock.gpsWasSet);
|
||
|
|
CHECK(withinTolerance(acPusherMock.latitudeMs, 185528159, 100));
|
||
|
|
CHECK(withinTolerance(acPusherMock.longitudeMs, 429428, 100));
|
||
|
|
}
|
||
|
|
SECTION("receive twice same value, only propagate once")
|
||
|
|
{
|
||
|
|
CHECK(acPusherMock.gpsWasSet);
|
||
|
|
CHECK(withinTolerance(acPusherMock.latitudeMs, 185528159, 100));
|
||
|
|
CHECK(withinTolerance(acPusherMock.longitudeMs, 429428, 100));
|
||
|
|
acPusherMock.clear();
|
||
|
|
converter.frameReceived(gpsInfo);
|
||
|
|
CHECK(!acPusherMock.gpsWasSet);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
TEST_CASE_METHOD(GpsConverterTest, "invalid data", "[gps]")
|
||
|
|
{
|
||
|
|
uint8 payload[8] = { 0x00, 0x00, 0x00, 0x80, 0x00, 0x00, 0x00, 0x80 };
|
||
|
|
CANFrame gpsInfo(0x34a, payload, 8);
|
||
|
|
converter.frameReceived(gpsInfo);
|
||
|
|
CHECK(!acPusherMock.gpsWasSet);
|
||
|
|
}
|
||
|
|
TEST_CASE_METHOD(GpsConverterTest, "no signal", "[gps]")
|
||
|
|
{
|
||
|
|
uint8 payload[8] = { 0xFF, 0xFF, 0xFF, 0x7F, 0xFF, 0xFF, 0xFF, 0x7F };
|
||
|
|
CANFrame gpsInfo(0x34a, payload, 8);
|
||
|
|
converter.frameReceived(gpsInfo);
|
||
|
|
CHECK(!acPusherMock.gpsWasSet);
|
||
|
|
}
|
||
|
|
// 48.1172966,11.5913253
|
||
|
|
// 48.1173275,11.591452
|
||
|
|
|
||
|
|
} // namespace test
|
||
|
|
|
||
|
|
|