rosaria/Legacy/Aria/tests/gpsInternals.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 "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;
}