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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 "ArNMEAParser.h"
#include "assert.h"
int main(int argc, char **argv) {
ArNMEAParser nmeaParser;
int result = 0;
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$33,44*5*6\n" ; // broken halfway through
char *malformedMessage2 = "xxx\r\nxxxx\r\n"; // not an nmea message, should just be ignored
char *malformedMessage3 = "$*01\r\n"; // missing key contents, except bogus checksum. error.
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 (abrupt end of message)...");
result = nmeaParser.parse(malformedMessage1, strlen(malformedMessage1));
assert(result & ArNMEAParser::ParseError);
nmeaParser.parse("\r\n\r\n", 4);
puts("\nMessage 2 of 5 (no NMEA syntactical characters present)...");
result = nmeaParser.parse(malformedMessage2, strlen(malformedMessage2));
assert(!(result & ArNMEAParser::ParseError));
nmeaParser.parse("\r\n\r\n", 4);
puts("\nMessage 3 of 5 (no contents, just start and (bogus) checksum)...");
result = nmeaParser.parse(malformedMessage3, strlen(malformedMessage3));
assert(result & ArNMEAParser::ParseError);
nmeaParser.parse("\r\n\r\n", 4);
puts("\nMessage 4 of 5 (missing checksum)...");
result = nmeaParser.parse(malformedMessage4, strlen(malformedMessage4));
assert(result & ArNMEAParser::ParseError);
nmeaParser.parse("\r\n\r\n", 4);
puts("\nMessage 5 of 5 (overlapping/corrupted messages)...");
result = nmeaParser.parse(malformedMessage5, strlen(malformedMessage5));
assert(result & ArNMEAParser::ParseError);
nmeaParser.parse("\r\n\r\n", 4);
puts("");
puts("Testing a message with a correct checksum. Should be no checksum warnings.");
char *messageWithGoodChecksum = "$HCHDM,123.4,M*2D\r\n";
result = nmeaParser.parse(messageWithGoodChecksum, strlen(messageWithGoodChecksum));
assert(!(result & ArNMEAParser::ParseError));
puts("");
puts("Testing messages with incorrect checksums. Should see checksum warnings.");
char *messageWithBadChecksum = "$HCHDM,123.4,M*23\r\n";
result = nmeaParser.parse(messageWithBadChecksum, strlen(messageWithBadChecksum));
assert(result & ArNMEAParser::ParseError);
nmeaParser.parse("\r\n\r\n", 4);
messageWithBadChecksum = "$HCHDM,123.4,z*2D\r\n";
result = nmeaParser.parse(messageWithBadChecksum, strlen(messageWithBadChecksum));
assert(result & ArNMEAParser::ParseError);
nmeaParser.parse("\r\n\r\n", 4);
puts("");
puts("Testing very long message.");
char longMessage[256];
char c = 'a';
for(int i = 0; i <= 256; ++i)
{
longMessage[i] = c;
if(c == 'z') c = 'A';
else if(c == 'Z') c = 'a';
else ++c;
}
result = nmeaParser.parse(longMessage, 256);
assert(!(result & ArNMEAParser::ParseError));
assert(!(result & ArNMEAParser::ParseUpdated));
puts("");
puts("Done.");
return 0;
}
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