rosaria/Legacy/Aria/tests/nmeaParser.cpp

/*
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;
}