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#!/usr/bin/env python
#
# Test gps/clienthelpers.py
#
# This code runs compatibly under Python 2 and 3.x for x >= 2.
# Preserve this property!
"""Partial test suite for gps.clienthelpers module."""
from __future__ import absolute_import, print_function, division
import math # for math.fabs()
import os # for os.environ()
import sys # for stderr, etc.
import gps.clienthelpers
import gps.misc
debug = 0
test1 = [(0, 0, " 0.00000000"), # deg_dd
(0, 89.999, " 89.99900000"),
(0, 90.1, " 90.10000000"),
(0, 180.21, "180.21000000"),
(0, 359.321, "359.32100000"),
(0, 360.0, " 0.00000000"),
(1, 0, " 0 00.000000'"), # deg_ddmm
(1, 89.999, " 89 59.940000'"),
(1, 90.1, " 90 06.000000'"),
(1, 180.21, "180 12.600000'"),
(1, 359.321, "359 19.260000'"),
(1, 360.0, " 0 00.000000'"),
(2, 0, " 0 00' 00.00000\""), # deg_ddmmss
(2, 89.999, " 89 59' 56.40000\""),
(2, 90.1, " 90 06' 00.00000\""),
(2, 180.21, "180 12' 36.00000\""),
(2, 359.321, "359 19' 15.60000\""),
(2, 360.0, " 0 00' 00.00000\""),
]
# maidenhead
# keep in sync with tests/test_gpsdclient.c
test2 = [(48.864710, 2.373051, "JN18eu47sm", "Paris"),
(41.934982, 12.436523, "JN61fw24jj", "Rome"),
(39.97714, -75.16855, "FM29jx94sm", "Philadelphia, PA USA"),
(44.068786, -121.314247, "CN94ib26gm", "Bend, OR USA"),
(-23.40288, -50.97669, "GG46mo23th", "Sao Paulo"),
(-33.868810, 151.209291, "QF56od51cl", "Sydney, NSW AU"),
(90, 180, "RR99xx99xx", "North Pole"),
(-90, -180, "AA00aa00aa", "South Pole"),
]
test3 = [
# wgs84 separation, cm precision
# online calculator:
# https://geographiclib.sourceforge.io/cgi-bin/GeoidEval
#
# magnetic variation, hundredths of a degree precision.
#
# same tests as tests/test_geoid.c. Keep them in sync.
#
# Easter Island: EGM2008 -3.8178, EGM96 -4.9979, EGM84 -5.1408
# wmm2015 2.90
(27.1127, -109.3497, -31.29, 8.45, "Easter Island"),
# Kalahari: EGM2008, 20.6560, EGM96, 20.8419, EGM84 23.4496
# wmm2015 6.73
(25.5920, 21.0937, 21.80, 3.35, "Kalahari Desert"),
# Greenland: EGM2008 40.3981, EGM96 40.5912, EGM84 41.7056
# wmm2015 28.26 AWEFUL!
(71.7069, -42.6043, 40.11, -28.25, "Greenland"),
# Kuk Swamp: EGM2008 62.8837, EGM96, 62.8002, EGM84, 64.5655
# wmm2015 9.11
# seems to be over a gravitational anomaly
(5.7837, 144.3317, 62.34, 2.42, "Kuk Swamp PG"),
# KBDN: EGM2008 -20.3509, EGM96 -19.8008, EGM84 -18.5562
# wmm2015 14.61
(44.094556, -121.200222, -21.95, 14.40, "Bend Airport, OR (KBDN)"),
# PANC: EGM2008 7.6508, EGM96 7.8563, EGM84 8.0838
# wmm2015 15.78
(61.171333, -149.991164, 13.54, 15.52, "Anchorage Airport, AK (PANC)"),
# KDEN: EGM2008 -18.1941, EGM96 -18.4209, EGM84 -15.9555
# wmm2015 7.95
(39.861666, -104.673166, -18.15, 7.84, "Denver Airport, CO (KDEN)"),
# LHR: EGM2008 46.4499, EGM96 46.3061, EGM84 47.7620
# wmm2015 0.17
(51.46970, -0.45943, 46.26, -0.28, "London Heathrow Airport, UK (LHR)"),
# SCPE: EGM2008 37.9592, EGM96 39.3400, EGM84 46.6604
# wmm2015 -6.17
(-22.92170, -68.158401, 35.46, -6.11,
"San Pedro de Atacama Airport, CL (SCPE)"),
# SIN: EGM2008 8.6453, EGM96 8.3503, EGM84 8.2509
# wmm2015 0.22
(1.350190, 103.994003, 7.51, 0.17, "Singapore Changi Airport, SG (SIN)"),
# UURB: EGM2008 13.6322, EGM96 13.6448, EGM84 13.1280
# wmm2015 11.41
(55.617199, 38.06000, 13.22, 11.42, "Moscow Bykovo Airport, RU (UUBB)"),
# SYD: EGM2008 13.0311, EGM96 13.3736, EGM84 13.3147
# wmm2015 -4.28
(33.946098, 151.177002, 13.59, -4.26, "Sydney Airport, AU (SYD)"),
# Doyle: EGM2008 -23.3366, EGM96 -23.3278, EGM84 -21.1672
# wmm2015 13.35
(40, -120, -23.34, 13.35, "Near Doyle, CA"),
# test calc at delta lat == 0
# North Poll: EGM2008 14.8980, EGM96 13.6050, EGM84 13.0980
# wmm2015 1.75
(90, 0, 14.90, 1.75, "North Poll 0"),
# wmm2015 3.75
(90, 2, 14.90, 3.75, "North Poll 2"),
# wmm2015 4.25
(90, 2.5, 14.90, 4.25, "North Poll 2.5"),
# wmm2015 1.75
(90, 3, 14.90, 4.75, "North Poll 3"),
# wmm2015 1.75
(90, 5, 14.90, 6.75, "North Poll 5"),
# wmm2015 -178.25
(90, 180, 14.90, -178.25, "North Poll"),
# Equator 0, EGM2008 17.2260, EGM96 17.1630, EGM84 18.3296
# wmm2015 -4.84
(0, 0, 17.23, -4.84, "Equator 0W"),
# South Poll: EGM2008 -30.1500, EGM96 -29.5350, EGM84 -29.7120
# wmm2015 -30.80
(-90, 0, -30.15, -30.80, "South Poll"),
# test calc at delta lon == 0
# 2 0: EGM2008 17.1724, EGM96 16.8962, EGM84 17.3676
# wmm2015 -4.17
(2, 0, 18.42, -4.23, "2N 0W"),
# 2.5 0: EGM2008 16.5384, EGM96 16.5991, EGM84 17.0643
# wmm2015 -4.02
(2.5, 0, 18.71, -4.08, "2.5N 0W"),
# 3 0: EGM2008 16.7998, EGM96 16.6161, EGM84 16.7857
# wmm2015 -3.87
(3, 0, 19.01, -3.92, "3N 0W"),
# 3.5 0: EGM2008 17.0646, EGM96 17.0821, EGM84 16.7220
# wmm2015 -3.72
(3.5, 0, 19.31, -3.77, "3.5N 0W"),
# 5 0: EGM2008 20.1991, EGM96 20.4536, EGM84 20.3181
# wmm2015 -3.31
(5, 0, 20.20, -3.31, "5N 0W"),
# test calc on diagonal
# Equator 0, EGM2008 17.2260, EGM96 17.1630, EGM84 18.3296
# wmm2015 -4.84
# 2 2: EGM2008 16.2839, EGM96 16.1579, EGM84 17.5354
# wmm2015 -3.53
(2, 2, 18.39, -3.60, "2N 2E"),
# 2.5 2.5: EGM2008 15.7918, EGM96 15.5314, EGM84 16.3230
# wmm2015 -3.24
(2.5, 2.5, 18.78, -3.30, "2.5N 2.5E"),
# 3 3: EGM2008 15.2097, EGM96 15.0751, EGM84 14.6542
# wmm2015 -2.95
(3, 3, 19.20, -3.01, "3N 3E"),
# 3.5 3.5: EGM2008 14.8706, EGM96 14.6668, EGM84 13.9592
# wmm2015 -3.72
(3.5, 3.5, 19.66, -2.73, "3.5N 3.5E"),
# some 5x5 points, s/b exact EGM2008, +/- rounding
# 5, 5: EGM2008 21.2609, EGM96 20.8917, EGM84 20.3509
# wmm2015 -1.91
(5, 5, 21.26, -1.91, "5, 5"),
# -5, -5: EGM2008 17.1068, EGM96 16.8362, EGM84 17.5916
# wmm2015 -9.03
(-5, -5, 17.11, -9.03, "-5, -5"),
# -5, 5: EGM2008 9.3988, EGM96 9.2399, EGM84 9.7948
# wmm2015 -4.80
(-5, 5, 9.40, -4.80, "-5, 5"),
# 5, -5: EGM2008 25.7668, EGM96 25.6144, EGM84 25.1224
# wmm2015 -4.90
(5, -5, 25.77, -4.90, "5, 5"),
# test data for some former corners in the code
# 0, -78.452222: EGM2008 26.8978, EGM96 25.3457, EGM84 26.1507
# wmm2015 -3.87
(0, -78.452222, 15.98, -3.89, "Equatorial Sign Bolivia"),
# 51.4778067, 0: EGM2008 45.8961, EGM96 45.7976, EGM84 47.2468
# wmm2015 -0.10
(51.4778067, 0, 45.46, -0.11, "Lawn Greenwich Observatory UK"),
# 0, 180: EGM2008 21.2813, EGM96 21.1534, EGM84 21.7089
# wmm2015 9.75
(0, 180, 21.28, 9.75, "Far away from Google default"),
(0, -180, 21.28, 9.75, "Away far from Google default"),
]
# gpsd gpsd_units
test4 = [('GPSD_UNITS', 'imperial', gps.clienthelpers.imperial),
('GPSD_UNITS', 'nautical', gps.clienthelpers.nautical),
('GPSD_UNITS', 'metric', gps.clienthelpers.metric),
('LC_MEASUREMENT', 'en_US', gps.clienthelpers.imperial),
('LC_MEASUREMENT', 'C', gps.clienthelpers.imperial),
('LC_MEASUREMENT', 'POSIX', gps.clienthelpers.imperial),
('LC_MEASUREMENT', 'ru_RU', gps.clienthelpers.metric),
('LANG', 'en_US', gps.clienthelpers.imperial),
('LANG', 'C', gps.clienthelpers.imperial),
('LANG', 'POSIX', gps.clienthelpers.imperial),
('LANG', 'ru_RU', gps.clienthelpers.metric),
]
# ecef2lla() tests
# lat, lon, altHAE, x, y z
test5 = [(0, 0, 0, 6378137, 0, 0),
# (90, 0, 0, 0, 0, 6356752), # broken!
(0, 90, 0, 0, 6378137, 0),
(0, 90, 90, 0, 6378227, 0),
(29.999998, 30.000001, -1.022303, 4787610, 2764128, 3170373),
(29.999996, 29.999998, 29.356862, 4787633, 2764141, 3170388),
(60, 60, -0.000068,
1598552.29346197, 2768773.79083189, 5500477.13386045),
# a typical GPS sat
(28.4, 74.4, 20073000.065, 6258290.772, 22414678.807, 12562777.312),
(-34.2, -172.3, 20240000.113,
-21822373.137, -2950500.608, -14941384.507),
(44.0, -155.5, 20240000.201,
-17430229.809, -7943413.363, 18467977.030),
]
# lla2ecef() tests
# lat, lon, altHAE, x, y z
# ideally would be the same as test 5, but life not that simple
test6 = [(0, 0, 0, 6378137, 0, 0),
# (90, 0, 0, 0, 0, 6356752), # broken!
(0, 90, 0, 0, 6378137, 0),
(0, 90, 90, 0, 6378227, 0),
(30, 30, 0, 4787610.688268, 2764128.319646, 3170373.735383),
(30, 30, 30, 4787633.188268, 2764141.310027, 3170388.735383),
(60, 60, 0, 1598552.29346197, 2768773.79083189, 5500477.13386045),
# typical GPS sats
(28.4, 74.4, 20073000, 6258290.772, 22414678.807, 12562777.312),
(-34.2, -172.3, 20240000, -21822373.137, -2950500.608, -14941384.507),
(44.0, -155.5, 20240000, -17430229.809, -7943413.363, 18467977.030),
]
# ecef2aer(). Which sorta tests ecef2enu() and enu2aer()
# x, y, z, lat, lon, altHAE, e, n, u
test7 = [(1, 0, 0, 0, 0, 0, 0, -90.000, 6378136.000),
(0, 1, 0, 0, 0, 0, 90.000, -90.000, 6378137.000),
(0, 0, 1, 0, 0, 0, 0.000, -90.000, 6378137.000),
(1, 1, 1, 0, 0, 0, 45.000, -90.000, 6378136.000),
(15363696.95, -9349336.027, 19639882.76,
44.06876100, -121.31437000, 1115.922,
51.842, 17.685, 24006768.741),
]
errors = 0
for test in test1:
(deg_type, deg, expected) = test
result = gps.clienthelpers.deg_to_str(deg_type, deg)
if result != expected:
print("fail: deg_to_str(%d, %.3f) got %s expected %s" %
(deg_type, deg, result, expected))
errors += 1
for (lat, lon, maidenhead, location) in test2:
converted = gps.clienthelpers.maidenhead(lat, lon)
if converted != maidenhead:
sys.stderr.write(
"fail: maidenhead test %s, %s (%s)) expected %s got %s\n" %
(lat, lon, location, maidenhead, converted))
errors += 1
# check wgs84_separation()
for (lat, lon, wgs84, var, desc) in test3:
separation = gps.clienthelpers.wgs84_separation(lat, lon)
# check to 1 millimeter
diff = separation - wgs84
if debug:
print("diff %f sep %f wgs84 %f" % (diff, separation, wgs84))
if 0.009 < math.fabs(diff):
sys.stderr.write(
"fail: wgs84_separation(%s, %s) (%s) expected %.2f got %.2f\n" %
(lat, lon, desc, wgs84, separation))
errors += 1
# check mag_var()
for (lat, lon, wgs84, var, desc) in test3:
magvar = gps.clienthelpers.mag_var(lat, lon)
# check to 0.1 degree
diff = magvar - var
if debug:
print("diff %f magvar %f s/b %f" % (diff, magvar, var))
if 0.09 < math.fabs(diff):
sys.stderr.write(
"fail: mag_var(%s, %s) (%s) expected %.2f got %.2f\n" %
(lat, lon, desc, var, magvar))
errors += 1
savedenv = os.environ
# from the python doc:
# calls to unsetenv() don't update os.environ, so it is actually
# preferable to delete items of os.environ.
for key in ['GPSD_UNITS', 'LC_MEASUREMENT', 'LANG']:
if key in os.environ:
del os.environ[key]
for (key, val, expected) in test4:
os.environ[key] = val
result = gps.clienthelpers.gpsd_units()
del os.environ[key]
if result != expected:
print("fail: gpsd_units() %s=%s got %s expected %d" %
(key, val, str(result), expected))
errors += 1
for (elat, elon, ealtHAE, x, y, z) in test5:
(lat, lon, altHAE) = gps.ecef2lla(x, y, z)
if ((0.000001 < abs(elat - lat) or
0.000001 < abs(elon - lon) or
0.001 < abs(ealtHAE - altHAE))):
print("fail: ecef2lla(%f, %f, %f)=(%.6f, %.6f, %.6f) "
"expected (%.6f, %.6f, %.6f)" %
(x, y, z, lat, lon, altHAE, elat, elon, ealtHAE))
errors += 1
for (lat, lon, altHAE, ex, ey, ez) in test6:
(x, y, z) = gps.lla2ecef(lat, lon, altHAE)
if ((0.001 < abs(ex - x) or
0.001 < abs(ey - y) or
0.001 < abs(ez - z))):
print("fail: lla2ecef(%f, %f, %f)=(%.6f, %.6f, %.6f) "
"expected (%.6f, %.6f, %.6f)" %
(lat, lon, altHAE, x, y, z, ex, ey, ez))
errors += 1
for (x, y, z, lat, lon, altHAE, eaz, eel, ernge) in test7:
(az, el, rnge) = gps.ecef2aer(x, y, z, lat, lon, altHAE)
if ((0.001 < abs(eaz - az) or
0.001 < abs(eel - el) or
0.001 < abs(ernge - rnge))):
print("fail: ecef2aer(%f, %f, %f, %f, %f, %f)=(%.3f, %.3f, %.3f) "
"expected (%.3f, %.3f, %.3f)" %
(x, y, z, lat, lon, altHAE, eaz, eel, ernge, az, el, rnge))
errors += 1
# restore environment
os.environ = savedenv
if errors:
print("test_clienthelpers.py: %d tests failed" % errors)
sys.exit(1)
else:
print("test_clienthelpers.py: OK")
sys.exit(0)
|
