void testGPS(CFileOutputStream& rawlogFile)
{
CGPSInterface mygps;
string SERIAL_NAME = "COM6"; // Name of the serial port to open
mygps.setSerialPortName(SERIAL_NAME);
CGenericSensor::TListObservations lstObs;
CGenericSensor::TListObservations::iterator itObs;
while (! mrpt::system::os::kbhit())
{
mygps.doProcess();
mrpt::system::sleep( 200 );
CSensoryFrame SF;
mygps.getObservations( lstObs );
if (lstObs.empty())
{
printf("[Test_GPS] Waiting for data...\n");
}
else
{
for (itObs=lstObs.begin();itObs!=lstObs.end();itObs++)
{
CObservationGPSPtr gpsData=CObservationGPSPtr(itObs->second);
gpsData->dumpToConsole();
SF.insert(gpsData);
rawlogFile << SF;
//coordinatesTransformation_WGS84(
}
lstObs.clear();
}
}
}
TEST(CGPSInterface, parse_NMEA_ZDA_stream)
{
mrpt::io::CMemoryStream buf;
{
const std::string s("$GPZDA,181813,14,10,2003,00,00*4F\n");
buf.Write(s.c_str(), s.size());
buf.Seek(0);
}
CGPSInterface gps;
gps.bindStream(&buf);
gps.initialize();
gps.doProcess();
mrpt::hwdrivers::CGenericSensor::TListObservations obss;
gps.getObservations(obss);
EXPECT_EQ(obss.size(), 1U);
auto obsGPS = mrpt::ptr_cast<CObservationGPS>::from(obss.begin()->second);
const gnss::Message_NMEA_ZDA* msg =
obsGPS->getMsgByClassPtr<gnss::Message_NMEA_ZDA>();
EXPECT_TRUE(msg != nullptr);
if (!msg) return;
EXPECT_TRUE(msg->fields.date_day == 14);
EXPECT_TRUE(msg->fields.date_month == 10);
EXPECT_TRUE(msg->fields.date_year == 2003);
EXPECT_TRUE(msg->fields.UTCTime.hour == 18);
EXPECT_TRUE(msg->fields.UTCTime.minute == 18);
EXPECT_TRUE(msg->fields.UTCTime.sec == 13.0);
// Replaced from EXPECT_EQ() to avoid a "bus error" in a gtest template
// under armhf.
}
TEST(CGPSInterface, parse_NOVATEL6_stream)
{
mrpt::io::CMemoryStream buf;
{
const unsigned char sample_novatel6_gps[] = {
0xaa, 0x44, 0x12, 0x1c, 0x2a, 0x00, 0x00, 0xa0, 0x48, 0x00, 0x00,
0x00, 0x5a, 0xb4, 0x59, 0x07, 0x10, 0x4a, 0xb7, 0x16, 0x00, 0x00,
0x00, 0x00, 0xf6, 0xb1, 0x4a, 0x34, 0x00, 0x00, 0x00, 0x00, 0x38,
0x00, 0x00, 0x00, 0x97, 0x2b, 0x45, 0xa9, 0xc8, 0x6a, 0x42, 0x40,
0xfc, 0x54, 0x43, 0x6f, 0x11, 0x18, 0x03, 0xc0, 0x00, 0x00, 0x20,
0x8f, 0xe8, 0x0e, 0x1c, 0x40, 0x66, 0x66, 0x48, 0x42, 0x3d, 0x00,
0x00, 0x00, 0x1d, 0x9b, 0x96, 0x3c, 0x2c, 0xd5, 0x9c, 0x3c, 0xd1,
0x39, 0xa8, 0x3c, 0x35, 0x35, 0x35, 0x00, 0x00, 0x00, 0x60, 0x41,
0x00, 0x00, 0x00, 0x00, 0x0f, 0x0e, 0x0e, 0x0d, 0x00, 0x00, 0x00,
0x33, 0x82, 0xba, 0x79, 0xe5, 0xaa, 0x44, 0x13, 0x58, 0xfc, 0x01,
0x59, 0x07, 0x10, 0x4a, 0xb7, 0x16, 0x59, 0x07, 0x00, 0x00, 0x33,
0x33, 0x33, 0x33, 0xdb, 0x42, 0x17, 0x41, 0xa7, 0xf0, 0xaf, 0xa5,
0xc8, 0x6a, 0x42, 0x40, 0xa2, 0xad, 0xac, 0x28, 0x12, 0x18, 0x03,
0xc0, 0x00, 0x00, 0x8a, 0x8b, 0x52, 0x8d, 0x4c, 0x40, 0x10, 0xe2,
0xdb, 0x3c, 0x4b, 0xbd, 0x82, 0xbf, 0x52, 0x23, 0x1e, 0x50, 0x08,
0xf1, 0x9b, 0xbf, 0xd4, 0xa6, 0xd1, 0x7c, 0xcd, 0x16, 0xc8, 0x3f,
0x31, 0x27, 0xe1, 0x16, 0xa2, 0x6b, 0x10, 0x40, 0xc7, 0x1c, 0xc7,
0x39, 0x6a, 0x9c, 0x00, 0x40, 0xa0, 0x3c, 0x9f, 0x79, 0xca, 0xdd,
0x63, 0x40, 0x03, 0x00, 0x00, 0x00, 0x27, 0xbb, 0xff, 0xf8, 0xaa,
0x44, 0x12, 0x1c, 0x2a, 0x00, 0x00, 0xa0, 0x48, 0x00, 0x00, 0x00,
0x5a, 0xb4, 0x59, 0x07, 0x42, 0x4a, 0xb7, 0x16, 0x00, 0x00, 0x00,
0x00, 0xf6, 0xb1, 0x4a, 0x34, 0x00, 0x00, 0x00, 0x00, 0x38, 0x00,
0x00, 0x00, 0xf0, 0x23, 0x3c, 0xa9, 0xc8, 0x6a, 0x42, 0x40, 0xdd,
0x10, 0x6c, 0x71, 0x11, 0x18, 0x03, 0xc0, 0x00, 0x00, 0x00, 0x03,
0xa7, 0x18, 0x1c, 0x40, 0x66, 0x66, 0x48, 0x42, 0x3d, 0x00, 0x00,
0x00, 0x32, 0x9b, 0x96, 0x3c, 0x82, 0xd4, 0x9c, 0x3c, 0x5d, 0x3a,
0xa8, 0x3c, 0x35, 0x35, 0x35, 0x00, 0x00, 0x00, 0x60, 0x41, 0x00,
0x00, 0x00, 0x00, 0x0f, 0x0e, 0x0e, 0x0d, 0x00, 0x00, 0x00, 0x33,
0xcb, 0x95, 0xa0, 0x9b, 0xaa, 0x44, 0x13, 0x58, 0xfc, 0x01, 0x59,
0x07, 0x42, 0x4a, 0xb7, 0x16, 0x59, 0x07, 0x00, 0x00, 0x67, 0x66,
0x66, 0x66, 0xdb, 0x42, 0x17, 0x41, 0xe6, 0xae, 0xa1, 0xa5, 0xc8,
0x6a, 0x42, 0x40, 0x26, 0x1e, 0x82, 0x2b, 0x12, 0x18, 0x03, 0xc0,
0x00, 0x00, 0x62, 0xb6, 0x8b, 0x8e, 0x4c, 0x40, 0x10, 0x63, 0x42,
0x19, 0x38, 0x19, 0x7a, 0xbf, 0x1e, 0xa9, 0x79, 0x02, 0x24, 0x6c,
0x9d, 0xbf, 0x52, 0x13, 0x38, 0xa4, 0x35, 0x2c, 0xc8, 0x3f, 0xa9,
0x3b, 0x21, 0x59, 0xe0, 0xa0, 0x10, 0x40, 0x51, 0xd1, 0x8c, 0x50,
0x0b, 0xa0, 0x00, 0x40, 0x16, 0x40, 0x94, 0xbe, 0xc2, 0xdd, 0x63,
0x40, 0x03, 0x00, 0x00, 0x00, 0x20, 0x4d, 0xe7, 0xa2, 0xaa, 0x44,
0x12, 0x1c, 0x2a, 0x00, 0x00, 0xa0, 0x48, 0x00, 0x00, 0x00, 0x5a,
0xb4, 0x59, 0x07, 0x74, 0x4a, 0xb7, 0x16, 0x00, 0x00, 0x00, 0x00,
0xf6, 0xb1, 0x4a, 0x34, 0x00, 0x00, 0x00, 0x00, 0x38, 0x00, 0x00,
0x00, 0xaa, 0x41, 0x32, 0xa9, 0xc8, 0x6a, 0x42, 0x40, 0xff, 0x59,
0xa8, 0x73, 0x11, 0x18, 0x03, 0xc0, 0x00, 0x00, 0xa0, 0xd6, 0x6b,
0x22, 0x1c, 0x40, 0x66, 0x66, 0x48, 0x42, 0x3d, 0x00, 0x00, 0x00,
0x92, 0x9b, 0x96, 0x3c, 0x70, 0xd3, 0x9c, 0x3c, 0x06, 0x3b, 0xa8,
0x3c, 0x35, 0x35, 0x35, 0x00};
const unsigned int sample_novatel6_gps_len = 500;
buf.Write(sample_novatel6_gps, sample_novatel6_gps_len);
buf.Seek(0);
}
CGPSInterface gps;
gps.bindStream(&buf);
gps.initialize();
gps.doProcess();
mrpt::hwdrivers::CGenericSensor::TListObservations obss;
gps.getObservations(obss);
EXPECT_EQ(obss.size(), 4U);
auto itObs = obss.begin();
auto obsGPS1 = mrpt::ptr_cast<CObservationGPS>::from(itObs->second);
++itObs;
auto obsGPS2 = mrpt::ptr_cast<CObservationGPS>::from(itObs->second);
EXPECT_TRUE(obsGPS1);
EXPECT_TRUE(obsGPS2);
const auto* msg1 =
obsGPS1->getMsgByClassPtr<gnss::Message_NV_OEM6_BESTPOS>();
EXPECT_TRUE(msg1 != nullptr);
if (!msg1) return;
EXPECT_TRUE(msg1->fields.num_sats_tracked == 15);
const auto* msg2 =
obsGPS2->getMsgByClassPtr<gnss::Message_NV_OEM6_INSPVAS>();
EXPECT_TRUE(msg2 != nullptr);
if (!msg2) return;
EXPECT_NEAR(msg2->fields.roll, 4.10511, 1e-4);
}
