Public Access
twislaandClaude Opus 5.5
988253ef02
The GNSS Service reads the receiver (UART 15/13, 115200, 1 KB buffer) from its 50 ms tick and feeds the NMEA parser. With a Fix it sets the clock (GNSS is the most trusted TimeSource) and refreshes it every 10 min. Settings gets GNSS On/Off and the coordinate format (Q64). Off puts the receiver in standby with $PCAS12,65535, renewed hourly; On wakes it with a hot start, $PCAS10,0. Both measured on the device: the output stops within a second, and a command wakes it within a second. Commands: gnss status (Fix, satellites per constellation, bytes and sentences), gnss nmea on|off, gnss send <sentence>, gnss restart. The probe is gone; never drive GPIO 15 (the receiver's output): the first probe's swapped-pin attempt silenced it until a power cycle. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01EhqxQ49eCju4CzKYNjZzwT
237 lines
9.5 KiB
C++
237 lines
9.5 KiB
C++
#include <unity.h>
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#include <cstdio>
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#include <string>
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#include <vector>
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#include "nmea_parser.h"
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using namespace roro;
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using namespace roro::gnss;
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void setUp() {}
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void tearDown() {}
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// "$<body>*<checksum>": the checksum is computed here, so scenarios stay readable.
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static std::string nmea(const std::string& body) {
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uint8_t sum = 0;
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for (char c : body) sum ^= static_cast<uint8_t>(c);
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char tail[4];
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std::snprintf(tail, sizeof tail, "*%02X", sum);
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return "$" + body + tail;
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}
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static void feedLine(NmeaParser& p, const std::string& line) {
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std::string withEnd = line + "\r\n";
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p.feed(withEnd.data(), withEnd.size());
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}
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void test_checksum_is_verified() {
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NmeaParser p;
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TEST_ASSERT_TRUE(p.sentence("$GNVTG,,,,,,,,,N*2E")); // captured from the device
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TEST_ASSERT_FALSE(p.sentence("$GNVTG,,,,,,,,,N*2F"));
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TEST_ASSERT_FALSE(p.sentence("$GNVTG,,,,,,,,,N"));
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TEST_ASSERT_FALSE(p.sentence("GNVTG,,,,,,,,,N*2E"));
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TEST_ASSERT_EQUAL_UINT32(3, p.badSentences());
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TEST_ASSERT_EQUAL_UINT32(1, p.goodSentences());
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}
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void test_no_fix_as_captured_indoors() {
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NmeaParser p;
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feedLine(p, "$GNRMC,200231.00,V,,,,,,,041026,,,N,V*1A");
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feedLine(p, "$GNGGA,200231.00,,,,,0,00,25.5,,,,,,*48");
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feedLine(p, "$GNGSA,A,1,,,,,,,,,,,,,25.5,25.5,25.5,1*01");
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feedLine(p, "$GPGSV,1,1,01,25,41,108,17,1*58");
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feedLine(p, "$GLGSV,1,1,00,1*78");
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const GnssState& s = p.state();
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TEST_ASSERT_TRUE(s.fix == FixType::None);
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TEST_ASSERT_FALSE(s.positionValid);
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TEST_ASSERT_FALSE(s.timeValid); // a time without a Fix isn't trusted
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TEST_ASSERT_EQUAL(1, static_cast<int>(s.satellites.size()));
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TEST_ASSERT_TRUE(s.satellites[0].system == Constellation::Gps);
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TEST_ASSERT_EQUAL(25, s.satellites[0].prn);
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TEST_ASSERT_EQUAL(41, s.satellites[0].elevation);
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TEST_ASSERT_EQUAL(108, s.satellites[0].azimuth);
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TEST_ASSERT_EQUAL(17, s.satellites[0].snr);
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TEST_ASSERT_FALSE(s.satellites[0].used);
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}
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void test_rmc_with_a_fix_gives_position_time_speed_course() {
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NmeaParser p;
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feedLine(p, nmea("GNRMC,123519.00,A,5050.8136,N,00421.1532,E,10.0,84.4,041026,,,A,V"));
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const GnssState& s = p.state();
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TEST_ASSERT_TRUE(s.positionValid);
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TEST_ASSERT_FLOAT_WITHIN(1e-6, 50.0 + 50.8136 / 60.0, s.latitude);
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TEST_ASSERT_FLOAT_WITHIN(1e-6, 4.0 + 21.1532 / 60.0, s.longitude);
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TEST_ASSERT_TRUE(s.timeValid);
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TEST_ASSERT_EQUAL(2026, s.year);
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TEST_ASSERT_EQUAL(10, s.month);
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TEST_ASSERT_EQUAL(4, s.day);
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TEST_ASSERT_EQUAL(12, s.hour);
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TEST_ASSERT_EQUAL(35, s.minute);
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TEST_ASSERT_EQUAL(19, s.second);
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TEST_ASSERT_FLOAT_WITHIN(0.01, 18.52, s.speedKmh); // 10 knots
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TEST_ASSERT_TRUE(s.courseValid);
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TEST_ASSERT_FLOAT_WITHIN(0.01, 84.4, s.courseDeg);
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}
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void test_southern_and_western_hemispheres_are_negative() {
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NmeaParser p;
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feedLine(p, nmea("GNRMC,000000.00,A,3352.0000,S,15112.6000,W,0.0,,010126,,,A,V"));
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TEST_ASSERT_FLOAT_WITHIN(1e-6, -(33.0 + 52.0 / 60.0), p.state().latitude);
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TEST_ASSERT_FLOAT_WITHIN(1e-6, -(151.0 + 12.6 / 60.0), p.state().longitude);
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TEST_ASSERT_FALSE(p.state().courseValid); // empty course field
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}
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void test_utc_seconds_from_the_fix_time() {
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NmeaParser p;
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feedLine(p, nmea("GNRMC,123519.00,A,5050.8136,N,00421.1532,E,0.0,,041026,,,A,V"));
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TEST_ASSERT_EQUAL_INT64(1791117319LL, p.state().utcSeconds()); // 2026-10-04 12:35:19 UTC
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}
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void test_gga_gives_fix_quality_altitude_satellites_and_hdop() {
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NmeaParser p;
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feedLine(p, nmea("GNGGA,123519.00,5050.8136,N,00421.1532,E,1,09,0.9,61.4,M,46.9,M,,"));
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feedLine(p, nmea("GNGSA,A,3,05,13,15,18,23,,,,,,,,1.6,0.9,1.3,1"));
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const GnssState& s = p.state();
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TEST_ASSERT_TRUE(s.positionValid);
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TEST_ASSERT_EQUAL(9, s.satellitesUsed);
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TEST_ASSERT_FLOAT_WITHIN(0.01, 0.9, s.hdop);
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TEST_ASSERT_TRUE(s.altitudeValid);
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TEST_ASSERT_FLOAT_WITHIN(0.01, 61.4, s.altitudeM);
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TEST_ASSERT_TRUE(s.fix == FixType::ThreeD);
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}
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void test_fix_type_comes_from_gsa_mode() {
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NmeaParser p;
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feedLine(p, nmea("GNGSA,A,2,05,13,15,,,,,,,,,,2.1,1.9,1.0,1"));
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TEST_ASSERT_TRUE(p.state().fix == FixType::TwoD);
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feedLine(p, nmea("GNGSA,A,1,,,,,,,,,,,,,25.5,25.5,25.5,1"));
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TEST_ASSERT_TRUE(p.state().fix == FixType::None);
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}
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void test_losing_the_fix_drops_the_position() {
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NmeaParser p;
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feedLine(p, nmea("GNRMC,123519.00,A,5050.8136,N,00421.1532,E,0.0,,041026,,,A,V"));
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TEST_ASSERT_TRUE(p.state().positionValid);
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feedLine(p, nmea("GNRMC,123520.00,V,,,,,,,041026,,,N,V"));
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TEST_ASSERT_FALSE(p.state().positionValid);
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TEST_ASSERT_FALSE(p.state().timeValid);
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}
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void test_gsv_sequence_spans_several_messages() {
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NmeaParser p;
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feedLine(p, nmea("GPGSV,2,1,05,05,60,120,40,13,45,200,35,15,30,300,30,18,20,050,25,1"));
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TEST_ASSERT_EQUAL(0, static_cast<int>(p.state().satellites.size())); // committed at the last message
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feedLine(p, nmea("GPGSV,2,2,05,23,10,010,,1"));
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const auto& sats = p.state().satellites;
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TEST_ASSERT_EQUAL(5, static_cast<int>(sats.size()));
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TEST_ASSERT_EQUAL(-1, sats[4].snr); // not tracked: empty SNR
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}
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void test_each_constellation_keeps_its_own_satellites() {
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NmeaParser p;
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feedLine(p, nmea("GPGSV,1,1,01,05,60,120,40,1"));
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feedLine(p, nmea("GLGSV,1,1,01,70,30,90,33,1"));
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feedLine(p, nmea("GAGSV,1,1,01,11,20,45,28,7"));
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feedLine(p, nmea("GBGSV,1,1,01,24,50,270,36,1"));
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feedLine(p, nmea("GQGSV,1,1,01,02,70,180,41,1"));
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const auto& sats = p.state().satellites;
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TEST_ASSERT_EQUAL(5, static_cast<int>(sats.size()));
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int seen[8] = {};
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for (auto& s : sats) seen[static_cast<int>(s.system)]++;
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TEST_ASSERT_EQUAL(1, seen[static_cast<int>(Constellation::Gps)]);
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TEST_ASSERT_EQUAL(1, seen[static_cast<int>(Constellation::Glonass)]);
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TEST_ASSERT_EQUAL(1, seen[static_cast<int>(Constellation::Galileo)]);
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TEST_ASSERT_EQUAL(1, seen[static_cast<int>(Constellation::BeiDou)]);
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TEST_ASSERT_EQUAL(1, seen[static_cast<int>(Constellation::Qzss)]);
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}
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void test_a_satellite_on_two_bands_counts_once_with_the_stronger_signal() {
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NmeaParser p;
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feedLine(p, nmea("GPGSV,1,1,01,05,60,120,30,1")); // L1
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feedLine(p, nmea("GPGSV,1,1,01,05,60,120,42,8")); // L5
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const auto& sats = p.state().satellites;
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TEST_ASSERT_EQUAL(1, static_cast<int>(sats.size()));
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TEST_ASSERT_EQUAL(42, sats[0].snr);
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}
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void test_an_empty_gsv_clears_that_constellation() {
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NmeaParser p;
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feedLine(p, nmea("GLGSV,1,1,01,70,30,90,33,1"));
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TEST_ASSERT_EQUAL(1, static_cast<int>(p.state().satellites.size()));
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feedLine(p, "$GLGSV,1,1,00,1*78"); // captured
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TEST_ASSERT_EQUAL(0, static_cast<int>(p.state().satellites.size()));
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}
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void test_gsa_marks_the_satellites_used_per_system() {
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NmeaParser p;
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feedLine(p, nmea("GPGSV,1,1,02,05,60,120,40,13,45,200,35,1"));
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feedLine(p, nmea("GBGSV,1,1,01,05,50,270,36,1")); // BeiDou 5, not GPS 5
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feedLine(p, nmea("GNGSA,A,3,05,,,,,,,,,,,,1.6,0.9,1.3,1")); // GPS: 5 used
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feedLine(p, nmea("GNGSA,A,3,,,,,,,,,,,,,1.6,0.9,1.3,4")); // BeiDou: none
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for (auto& s : p.state().satellites) {
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bool expected = s.system == Constellation::Gps && s.prn == 5;
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TEST_ASSERT_EQUAL(expected, s.used);
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}
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}
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void test_split_feeds_and_noise_are_handled() {
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NmeaParser p;
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std::string a = "garbage\r\n" + nmea("GNGGA,123519.00,5050.8136,N,00421.1532,E,1,09,0.9,61.4,M,46.9,M,,");
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std::string b = "\r\n";
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p.feed(a.data(), 20);
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p.feed(a.data() + 20, a.size() - 20);
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TEST_ASSERT_FALSE(p.state().positionValid); // no line end yet
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p.feed(b.data(), b.size());
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TEST_ASSERT_TRUE(p.state().positionValid);
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}
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void test_an_overlong_line_is_dropped() {
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NmeaParser p;
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std::string junk(300, 'x');
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junk += "\r\n";
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p.feed(junk.data(), junk.size());
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feedLine(p, nmea("GNGGA,123519.00,5050.8136,N,00421.1532,E,1,09,0.9,61.4,M,46.9,M,,"));
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TEST_ASSERT_TRUE(p.state().positionValid);
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}
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void test_every_complete_line_reaches_the_echo() {
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NmeaParser p;
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std::vector<std::string> seen;
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p.onLine = [&](const std::string& l) { seen.push_back(l); };
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std::string data = "$GNVTG,,,,,,,,,N*2E\r\nbroken\r\n$GN";
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p.feed(data.data(), data.size());
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TEST_ASSERT_EQUAL(2, static_cast<int>(seen.size()));
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TEST_ASSERT_EQUAL_STRING("$GNVTG,,,,,,,,,N*2E", seen[0].c_str());
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TEST_ASSERT_EQUAL_STRING("broken", seen[1].c_str());
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}
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void test_constellation_names() {
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TEST_ASSERT_EQUAL_STRING("GPS", constellationName(Constellation::Gps));
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TEST_ASSERT_EQUAL_STRING("Galileo", constellationName(Constellation::Galileo));
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TEST_ASSERT_EQUAL_STRING("BeiDou", constellationName(Constellation::BeiDou));
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}
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int main() {
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UNITY_BEGIN();
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RUN_TEST(test_checksum_is_verified);
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RUN_TEST(test_no_fix_as_captured_indoors);
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RUN_TEST(test_rmc_with_a_fix_gives_position_time_speed_course);
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RUN_TEST(test_southern_and_western_hemispheres_are_negative);
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RUN_TEST(test_utc_seconds_from_the_fix_time);
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RUN_TEST(test_gga_gives_fix_quality_altitude_satellites_and_hdop);
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RUN_TEST(test_fix_type_comes_from_gsa_mode);
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RUN_TEST(test_losing_the_fix_drops_the_position);
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RUN_TEST(test_gsv_sequence_spans_several_messages);
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RUN_TEST(test_each_constellation_keeps_its_own_satellites);
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RUN_TEST(test_a_satellite_on_two_bands_counts_once_with_the_stronger_signal);
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RUN_TEST(test_an_empty_gsv_clears_that_constellation);
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RUN_TEST(test_gsa_marks_the_satellites_used_per_system);
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RUN_TEST(test_split_feeds_and_noise_are_handled);
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RUN_TEST(test_an_overlong_line_is_dropped);
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RUN_TEST(test_every_complete_line_reaches_the_echo);
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RUN_TEST(test_constellation_names);
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return UNITY_END();
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}
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