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/*
Adept MobileRobots Robotics Interface for Applications (ARIA)
Copyright (C) 2004, 2005 ActivMedia Robotics LLC
Copyright (C) 2006, 2007, 2008, 2009, 2010 MobileRobots Inc.
Copyright (C) 2011, 2012, 2013 Adept Technology
This program is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
If you wish to redistribute ARIA under different terms, contact
Adept MobileRobots for information about a commercial version of ARIA at
robots@mobilerobots.com or
Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
*/
#include "ArGPS.h"
#include "assert.h"
class TestArGPS : public ArGPS {
public:
TestArGPS() : ArGPS() { }
int tests();
};
int main(int argc, char **argv) {
return TestArGPS().tests();
}
bool floatsCloseEnough(double x, double y, double eps = 0.000001)
{
return( fabs(x - y) < eps );
}
int TestArGPS::tests() {
puts("");
double degmin = 4248.32544;
double deg = gpsDegminToDegrees(degmin);
printf("Degrees/minutes combination %f converts to decimal degrees %f.\nChecking against correct value 42.805424...\n", degmin, deg);
assert(floatsCloseEnough(deg, 42.805424));
puts("OK");
puts("");
degmin = -4248.32544;
deg = gpsDegminToDegrees(degmin);
printf("Degrees/minutes combination %f converts to decimal degrees %f.\nChecking against correct value -42.805424... \n", degmin, deg);
assert(floatsCloseEnough(deg, -42.805424));
puts("OK");
puts("");
ArNMEAParser::MessageVector msgParts;
msgParts.push_back("GPRMC");
msgParts.push_back("1.1"); // timestamp
msgParts.push_back("A"); // warning flag
msgParts.push_back("4248.32544"); // latitude
msgParts.push_back("N"); // lat n/s
msgParts.push_back("7234.293016"); // longitude
msgParts.push_back("E"); // lon e/w
msgParts.push_back("0"); // speed
ArNMEAParser::Message msg;
msg.message = &msgParts;
handleGPRMC(msg);
printf("Extracted and converted data from preconstructed GPRMC message with north latitude, east latitude: lat=%f, lon=%f, time.sec=%lu, time.msec=%lu, speed=%f.\nChecking against correct values lat=42.805424 lon=72.571550, time.sec=1, time.mseg=100, speed=0.0...\n", myData.latitude, myData.longitude, myData.GPSPositionTimestamp.getSec(), myData.GPSPositionTimestamp.getMSec(), myData.speed);
assert(myData.havePosition);
assert(floatsCloseEnough(myData.latitude, 42.805424));
assert(floatsCloseEnough(myData.longitude, 72.571550));
assert(myData.GPSPositionTimestamp.getSec() == 1);
assert(myData.GPSPositionTimestamp.getMSec() == 100);
assert(floatsCloseEnough(myData.speed, 0.0));
puts("OK");
puts("");
msgParts[4] = "S";
msgParts[6] = "W";
handleGPRMC(msg);
printf("Extracted and converted data from preconstructed GPRMC message with south latitude, west longitude: lat=%f, lon=%f, time.sec=%lu, time.msec=%ld, speed=%f.\nChecking against correct values lat=-42.805424 lon=-72.57155...\n", myData.latitude, myData.longitude, myData.GPSPositionTimestamp.getSec(), myData.GPSPositionTimestamp.getMSec(), myData.speed);
assert(myData.havePosition);
assert(floatsCloseEnough(myData.latitude, -42.805424));
assert(floatsCloseEnough(myData.longitude, -72.57155));
puts("OK");
puts("");
msgParts[6] = "xxx";
msgParts[1] = "2";
handleGPRMC(msg);
printf("Extracted and converted data from preconstructed GPRMC message with south latitude, invalid (\"xxx\") longitude, message should have been ignored (timestamp should still show 1/100, not 2.): lat=%f, lon=%f, time.sec=%lu, time.msec=%ld, speed=%f.\nChecking against correct values lat=-42.805424 lon=-72.57155, time.sec!=2...\n", myData.latitude, myData.longitude, myData.GPSPositionTimestamp.getSec(), myData.GPSPositionTimestamp.getMSec(), myData.speed);
assert(floatsCloseEnough(myData.latitude, -42.805424));
assert(floatsCloseEnough(myData.longitude, -72.57155));
assert(myData.GPSPositionTimestamp.getSec() != 2);
puts("OK");
puts("");
puts("Now testing messages with invalid NMEA format (checksums should be seen as wrong, or messages ignored).");
char *malformedMessage1 = "$GPRMC,11\r\n99,22$33,44*5*6\n" ; // broken halfway through
char *malformedMessage2 = "xxx\r\nxxxx\r\n"; // not an nmea message
char *malformedMessage3 = "$*01\r\n"; // missing key contents. maybe acepted by ignored?
char *malformedMessage4 = "$GPRMC,11,22,33\r\n"; // missing checksum
char *malformedMessage5 = "$GPRMC,11,22$GPRMC,99,$GPR33MC88,77*01\r**0\n203\r\n"; // overlapping messages
puts("\nMessage 1 of 5...");
myNMEAParser.parse(malformedMessage1, strlen(malformedMessage1));
myNMEAParser.parse("\r\n\r\n", 4);
puts("\nMessage 2 of 5...");
myNMEAParser.parse(malformedMessage2, strlen(malformedMessage2));
myNMEAParser.parse("\r\n\r\n", 4);
puts("\nMessage 3 of 5...");
myNMEAParser.parse(malformedMessage3, strlen(malformedMessage3));
myNMEAParser.parse("\r\n\r\n", 4);
puts("\nMessage 4 of 5...");
myNMEAParser.parse(malformedMessage4, strlen(malformedMessage4));
myNMEAParser.parse("\r\n\r\n", 4);
puts("\nMessage 5 of 5...");
myNMEAParser.parse(malformedMessage5, strlen(malformedMessage5));
myNMEAParser.parse("\r\n\r\n", 4);
puts("");
char *text = "HCHDM,123.4,M";
char chk = 0;
for(unsigned int i = 0; i < strlen(text); ++i)
{
chk ^= text[i];
}
printf("Checking checksum algorithm: Checksum for example message contents \"%s\" is 0x%X (%d). (ought to be 0x2D). Checking...\n", text, chk&0xFF, chk&0xFF);
assert(chk == 0x2D);
puts("OK");
puts("");
puts("Testing a message with a correct checksum. Should be no checksum warnings.");
char *messageWithGoodChecksum = "$HCHDM,123.4,M*2D\r\n";
myNMEAParser.parse(messageWithGoodChecksum, strlen(messageWithGoodChecksum));
puts("");
puts("Testing messages with incorrect checksums. Should see checksum warnings.");
char *messageWithBadChecksum = "$HCHDM,123.4,M*23\r\n";
myNMEAParser.parse(messageWithBadChecksum, strlen(messageWithBadChecksum));
myNMEAParser.parse("\r\n\r\n", 4);
messageWithBadChecksum = "$HCHDM,123.4,z*2D\r\n";
myNMEAParser.parse(messageWithBadChecksum, strlen(messageWithBadChecksum));
myNMEAParser.parse("\r\n\r\n", 4);
puts("");
puts("Done.");
return 0;
}
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