237 lines
6.2 KiB
C++
237 lines
6.2 KiB
C++
/*
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* This file is part of Cleanflight.
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*
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* Cleanflight is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* Cleanflight is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <stdbool.h>
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#include <stdint.h>
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#include <string.h>
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#include <limits.h>
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extern "C" {
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#include "debug.h"
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#include "platform.h"
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#include "common/axis.h"
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#include "drivers/system.h"
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#include "drivers/serial.h"
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#include "sensors/sensors.h"
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#include "sensors/battery.h"
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#include "io/serial.h"
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#include "io/gps.h"
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#include "telemetry/telemetry.h"
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#include "telemetry/hott.h"
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#include "flight/pid.h"
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#include "flight/gps_conversion.h"
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#include "config/runtime_config.h"
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}
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#include "unittest_macros.h"
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#include "gtest/gtest.h"
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extern "C" {
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void addGPSCoordinates(HOTT_GPS_MSG_t *hottGPSMessage, int32_t latitude, int32_t longitude);
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}
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// See http://en.wikipedia.org/wiki/Geographic_coordinate_conversion
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HOTT_GPS_MSG_t hottGPSMessage;
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HOTT_GPS_MSG_t *getGPSMessageForTest(void)
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{
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memset(&hottGPSMessage, 0, sizeof(hottGPSMessage));
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return &hottGPSMessage;
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}
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TEST(TelemetryHottTest, UpdateGPSCoordinates1)
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{
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// given
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HOTT_GPS_MSG_t *hottGPSMessage = getGPSMessageForTest();
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// Mayrhofen, Austria
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uint32_t longitude = GPS_coord_to_degrees("4710.5186");
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uint32_t latitude = GPS_coord_to_degrees("1151.4252");
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// when
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addGPSCoordinates(hottGPSMessage, latitude, longitude);
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// then
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EXPECT_EQ(hottGPSMessage->pos_NS, 0);
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EXPECT_EQ(hottGPSMessage->pos_NS_dm_H << 8 | hottGPSMessage->pos_NS_dm_L, 1151);
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EXPECT_EQ((int16_t)(hottGPSMessage->pos_NS_sec_H << 8 | hottGPSMessage->pos_NS_sec_L), 4251);
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EXPECT_EQ(hottGPSMessage->pos_EW, 0);
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EXPECT_EQ(hottGPSMessage->pos_EW_dm_H << 8 | hottGPSMessage->pos_EW_dm_L, 4710);
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EXPECT_EQ((int16_t)(hottGPSMessage->pos_EW_sec_H << 8 | hottGPSMessage->pos_EW_sec_L), 5186);
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}
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TEST(TelemetryHottTest, UpdateGPSCoordinates2)
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{
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// given
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HOTT_GPS_MSG_t *hottGPSMessage = getGPSMessageForTest();
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// Hampstead Heath, London
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// 51.563886, -0.159960
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uint32_t longitude = GPS_coord_to_degrees("5156.3886");
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uint32_t latitude = -GPS_coord_to_degrees("015.9960");
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// when
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addGPSCoordinates(hottGPSMessage, longitude, latitude);
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// then
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EXPECT_EQ(hottGPSMessage->pos_NS, 0);
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EXPECT_EQ(hottGPSMessage->pos_NS_dm_H << 8 | hottGPSMessage->pos_NS_dm_L, 5156);
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EXPECT_EQ(hottGPSMessage->pos_NS_sec_H << 8 | hottGPSMessage->pos_NS_sec_L, 3886);
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EXPECT_EQ(hottGPSMessage->pos_EW, 1);
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EXPECT_EQ((int16_t)(hottGPSMessage->pos_EW_dm_H << 8 | hottGPSMessage->pos_EW_dm_L), -15);
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EXPECT_EQ((int16_t)(hottGPSMessage->pos_EW_sec_H << 8 | hottGPSMessage->pos_EW_sec_L), -9960);
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}
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TEST(TelemetryHottTest, UpdateGPSCoordinates3)
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{
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// given
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HOTT_GPS_MSG_t *hottGPSMessage = getGPSMessageForTest();
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int32_t longitude = -GPS_coord_to_degrees("17999.9999");
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int32_t latitude = GPS_coord_to_degrees("8999.9999");
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// when
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addGPSCoordinates(hottGPSMessage, longitude, latitude);
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// then
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EXPECT_EQ(hottGPSMessage->pos_NS, 1);
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EXPECT_EQ((int16_t)(hottGPSMessage->pos_NS_dm_H << 8 | hottGPSMessage->pos_NS_dm_L), -18039);
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EXPECT_EQ((int16_t)(hottGPSMessage->pos_NS_sec_H << 8 | hottGPSMessage->pos_NS_sec_L), -9999);
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EXPECT_EQ(hottGPSMessage->pos_EW, 0);
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EXPECT_EQ((int16_t)(hottGPSMessage->pos_EW_dm_H << 8 | hottGPSMessage->pos_EW_dm_L), 9039);
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EXPECT_EQ((int16_t)(hottGPSMessage->pos_EW_sec_H << 8 | hottGPSMessage->pos_EW_sec_L), 9999);
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}
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TEST(TelemetryHottTest, PrepareGPSMessage_Altitude1m)
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{
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// given
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HOTT_GPS_MSG_t *hottGPSMessage = getGPSMessageForTest();
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stateFlags = GPS_FIX;
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uint16_t altitudeInMeters = 1;
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GPS_altitude = altitudeInMeters * (1 / 0.1f); // 1 = 0.1m
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// when
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hottPrepareGPSResponse(hottGPSMessage);
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// then
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EXPECT_EQ((int16_t)(hottGPSMessage->altitude_H << 8 | hottGPSMessage->altitude_L), 1 + HOTT_GPS_ALTITUDE_OFFSET);
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}
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// STUBS
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extern "C" {
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int16_t debug[DEBUG16_VALUE_COUNT];
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uint8_t stateFlags;
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uint16_t batteryWarningVoltage;
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uint8_t useHottAlarmSoundPeriod (void) { return 0; }
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uint8_t GPS_numSat;
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int32_t GPS_coord[2];
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uint16_t GPS_speed; // speed in 0.1m/s
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uint16_t GPS_distanceToHome; // distance to home point in meters
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uint16_t GPS_altitude; // altitude in 0.1m
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uint8_t vbat;
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int16_t GPS_directionToHome; // direction to home or hol point in degrees
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int32_t amperage;
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int32_t mAhDrawn;
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uint32_t fixedMillis = 0;
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uint32_t millis(void) {
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return fixedMillis;
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}
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uint32_t micros(void) { return 0; }
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uint8_t serialTotalBytesWaiting(serialPort_t *instance) {
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UNUSED(instance);
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return 0;
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}
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uint8_t serialRead(serialPort_t *instance) {
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UNUSED(instance);
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return 0;
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}
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void serialWrite(serialPort_t *instance, uint8_t ch) {
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UNUSED(instance);
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UNUSED(ch);
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}
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void serialSetMode(serialPort_t *instance, portMode_t mode) {
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UNUSED(instance);
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UNUSED(mode);
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}
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serialPort_t *openSerialPort(serialPortIdentifier_e identifier, serialPortFunction_e functionMask, serialReceiveCallbackPtr callback, uint32_t baudRate, portMode_t mode, portOptions_t options) {
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UNUSED(identifier);
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UNUSED(functionMask);
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UNUSED(baudRate);
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UNUSED(callback);
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UNUSED(mode);
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UNUSED(options);
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return NULL;
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}
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void closeSerialPort(serialPort_t *serialPort) {
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UNUSED(serialPort);
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}
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serialPortConfig_t *findSerialPortConfig(serialPortFunction_e function) {
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UNUSED(function);
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return NULL;
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}
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bool sensors(uint32_t mask) {
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UNUSED(mask);
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return false;
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}
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bool determineNewTelemetryEnabledState(portSharing_e) {
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return true;
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}
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portSharing_e determinePortSharing(serialPortConfig_t *, serialPortFunction_e) {
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return PORTSHARING_NOT_SHARED;
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}
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}
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