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10279c0178
The existing implementation that was ported over was trying to work with different values. By writing a unit test for the code that stores values in GPS_coord it was possible to have known values which could then also be used to write a unit test for the HoTT telemetry which finally enabled production code to be written. Hopefully it will work, unable to test further since my GPS unit is playing up.
141 lines
3.1 KiB
C++
141 lines
3.1 KiB
C++
#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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#include "platform.h"
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#include "common/axis.h"
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#include "drivers/system_common.h"
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#include "drivers/serial_common.h"
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#include "serial_common.h"
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#include "runtime_config.h"
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#include "sensors_common.h"
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#include "flight_common.h"
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#include "gps_common.h"
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#include "battery.h"
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#include "telemetry_common.h"
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#include "telemetry_hott.h"
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#include "gps_conversion.h"
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#include "unittest_macros.h"
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#include "gtest/gtest.h"
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void addGPSCoordinates(HOTT_GPS_MSG_t *hottGPSMessage, int32_t latitude, int32_t longitude);
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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, UpdateGPSCoordinates)
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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 latitude = GPS_coord_to_degrees("4710.5186");
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uint32_t longitude = GPS_coord_to_degrees("1151.4252");
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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_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(hottGPSMessage->pos_EW_sec_H << 8 | hottGPSMessage->pos_EW_sec_L, 5186);
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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(hottGPSMessage->pos_NS_sec_H << 8 | hottGPSMessage->pos_NS_sec_L, 4251);
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}
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// STUBS
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int16_t debug[4];
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uint8_t GPS_numSat;
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flags_t f;
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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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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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void serialSetBaudRate(serialPort_t *instance, uint32_t baudRate) {
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UNUSED(instance);
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UNUSED(baudRate);
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}
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void beginSerialPortFunction(serialPort_t *port, serialPortFunction_e function) {
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UNUSED(port);
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UNUSED(function);
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}
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void endSerialPortFunction(serialPort_t *port, serialPortFunction_e function) {
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UNUSED(port);
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UNUSED(function);
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}
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serialPort_t *openSerialPort(serialPortFunction_e functionMask, serialReceiveCallbackPtr callback, uint32_t baudRate, portMode_t mode, serialInversion_e inversion) {
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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(inversion);
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}
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serialPort_t *findOpenSerialPort(uint16_t functionMask) {
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UNUSED(functionMask);
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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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