CGPSInterface_unittest.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */

#include <mrpt/hwdrivers/CGPSInterface.h>
#include <gtest/gtest.h>

using namespace mrpt;
using namespace mrpt::hwdrivers;
using namespace mrpt::obs;
using namespace std;

// Example cmds:
// https://www.sparkfun.com/datasheets/GPS/NMEA%20Reference%20Manual-Rev2.1-Dec07.pdf

TEST(CGPSInterface, parse_NMEA_GGA)
{
    // Test with a correct frame:
    {
        const char* test_cmd =
            "$GPGGA,101830.00,3649.76162994,N,00224.53709052,W,2,08,1.1,9.3,M,"
            "47.4,M,5.0,0120*58";
        mrpt::obs::CObservationGPS obsGPS;
        const bool parse_ret = CGPSInterface::parse_NMEA(test_cmd, obsGPS);
        EXPECT_TRUE(parse_ret) << "Failed parse of: " << test_cmd << endl;

        const gnss::Message_NMEA_GGA* msg =
            obsGPS.getMsgByClassPtr<gnss::Message_NMEA_GGA>();
        EXPECT_TRUE(msg != nullptr);
        if (!msg) return;
        EXPECT_NEAR(
            msg->fields.latitude_degrees, 36 + 49.76162994 / 60.0, 1e-10);
        EXPECT_NEAR(
            msg->fields.longitude_degrees, -(002 + 24.53709052 / 60.0), 1e-10);
        EXPECT_NEAR(msg->fields.altitude_meters, 9.3, 1e-10);
    }
    // Test with an empty frame:
    {
        const char* test_cmd = "$GPGGA,,,,,,0,,,,M,,M,,*6";
        mrpt::obs::CObservationGPS obsGPS;
        const bool parse_ret = CGPSInterface::parse_NMEA(test_cmd, obsGPS);
        EXPECT_FALSE(parse_ret);
    }
}

TEST(CGPSInterface, parse_NMEA_RMC)
{
    const char* test_cmd =
        "$GPRMC,161229.487,A,3723.2475,N,12158.3416,W,0.13,309.62,120598, ,*10";
    mrpt::obs::CObservationGPS obsGPS;
    const bool parse_ret = CGPSInterface::parse_NMEA(test_cmd, obsGPS);
    EXPECT_TRUE(parse_ret) << "Failed parse of: " << test_cmd << endl;

    const gnss::Message_NMEA_RMC* msg =
        obsGPS.getMsgByClassPtr<gnss::Message_NMEA_RMC>();

    EXPECT_TRUE(msg != nullptr);
    if (!msg) return;
    EXPECT_NEAR(msg->fields.latitude_degrees, 37 + 23.2475 / 60.0, 1e-10);
    EXPECT_NEAR(msg->fields.longitude_degrees, -(121 + 58.3416 / 60.0), 1e-10);
}

TEST(CGPSInterface, parse_NMEA_GLL)
{
    const char* test_cmd = "$GPGLL,3723.2475,N,12158.3416,W,161229.487,A,A*41";
    mrpt::obs::CObservationGPS obsGPS;
    const bool parse_ret = CGPSInterface::parse_NMEA(test_cmd, obsGPS);
    EXPECT_TRUE(parse_ret) << "Failed parse of: " << test_cmd << endl;

    const gnss::Message_NMEA_GLL* msg =
        obsGPS.getMsgByClassPtr<gnss::Message_NMEA_GLL>();

    EXPECT_TRUE(msg != nullptr);
    if (!msg) return;
    EXPECT_NEAR(msg->fields.latitude_degrees, 37 + 23.2475 / 60.0, 1e-10);
    EXPECT_NEAR(msg->fields.longitude_degrees, -(121 + 58.3416 / 60.0), 1e-10);
}

TEST(CGPSInterface, parse_NMEA_VTG)
{
    const char* test_cmd = "$GPVTG,054.7,T,034.4,M,005.5,N,010.2,K*48";
    mrpt::obs::CObservationGPS obsGPS;
    const bool parse_ret = CGPSInterface::parse_NMEA(test_cmd, obsGPS);
    EXPECT_TRUE(parse_ret) << "Failed parse of: " << test_cmd << endl;

    const gnss::Message_NMEA_VTG* msg =
        obsGPS.getMsgByClassPtr<gnss::Message_NMEA_VTG>();

    EXPECT_TRUE(msg != nullptr);
    if (!msg) return;
    EXPECT_NEAR(msg->fields.true_track, 54.7, 1e-6);
    EXPECT_NEAR(msg->fields.magnetic_track, 34.4, 1e-6);
    EXPECT_NEAR(msg->fields.ground_speed_knots, 5.5, 1e-6);
    EXPECT_NEAR(msg->fields.ground_speed_kmh, 10.2, 1e-6);
}

TEST(CGPSInterface, parse_NMEA_ZDA)
{
    const char* test_cmd = "$GPZDA,181813,14,10,2003,00,00*4F";
    mrpt::obs::CObservationGPS obsGPS;
    const bool parse_ret = CGPSInterface::parse_NMEA(test_cmd, obsGPS);
    EXPECT_TRUE(parse_ret) << "Failed parse of: " << test_cmd << endl;

    const gnss::Message_NMEA_ZDA* msg =
        obsGPS.getMsgByClassPtr<gnss::Message_NMEA_ZDA>();

    EXPECT_TRUE(msg != nullptr);
    if (!msg) return;
    EXPECT_TRUE(msg->fields.date_day == 14);
    EXPECT_TRUE(msg->fields.date_month == 10);
    EXPECT_TRUE(msg->fields.date_year == 2003);
    EXPECT_TRUE(msg->fields.UTCTime.hour == 18);
    EXPECT_TRUE(msg->fields.UTCTime.minute == 18);
    EXPECT_TRUE(msg->fields.UTCTime.sec == 13.0);  // Replaced from EXPECT_EQ()
    // to avoid a "bus error" in
    // a gtest template under
    // armhf.
}