mirror of https://github.com/gnss-sdr/gnss-sdr
631 lines
22 KiB
C++
631 lines
22 KiB
C++
/*!
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* \file rtcm_test.cc
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* \brief This file implements unit tests for the Rtcm class.
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* \author Carles Fernandez-Prades, 2015. cfernandez(at)cttc.es
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*
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*
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* -----------------------------------------------------------------------------
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*
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* GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
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* This file is part of GNSS-SDR.
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*
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* Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors)
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* SPDX-License-Identifier: GPL-3.0-or-later
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*
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* -----------------------------------------------------------------------------
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*/
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#include "Galileo_INAV.h"
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#include "rtcm.h"
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#include <memory>
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#include <thread>
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TEST(RtcmTest, HexToBin)
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{
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auto rtcm = std::make_shared<Rtcm>();
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std::string test1 = "2A";
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std::string test1_bin = rtcm->hex_to_bin(test1);
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EXPECT_EQ(0, test1_bin.compare("00101010"));
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std::string test2 = "FF";
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std::string test2_bin = rtcm->hex_to_bin(test2);
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EXPECT_EQ(0, test2_bin.compare("11111111"));
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std::string test3 = "ff";
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std::string test3_bin = rtcm->hex_to_bin(test3);
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EXPECT_EQ(0, test3_bin.compare("11111111"));
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std::string test4 = "100";
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std::string test4_bin = rtcm->hex_to_bin(test4);
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EXPECT_EQ(0, test4_bin.compare("000100000000"));
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std::string test5 = "1101";
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std::string test5_bin = rtcm->hex_to_bin(test5);
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EXPECT_EQ(0, test5_bin.compare("0001000100000001"));
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std::string test6 = "3";
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std::string test6_bin = rtcm->hex_to_bin(test6);
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EXPECT_EQ(0, test6_bin.compare("0011"));
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}
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TEST(RtcmTest, BinToHex)
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{
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auto rtcm = std::make_shared<Rtcm>();
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std::string test1 = "00101010";
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std::string test1_hex = rtcm->bin_to_hex(test1);
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EXPECT_EQ(0, test1_hex.compare("2A"));
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std::string test2 = "11111111";
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std::string test2_hex = rtcm->bin_to_hex(test2);
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EXPECT_EQ(0, test2_hex.compare("FF"));
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std::string test4 = "000100000000";
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std::string test4_hex = rtcm->bin_to_hex(test4);
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EXPECT_EQ(0, test4_hex.compare("100"));
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std::string test5 = "0001000100000001";
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std::string test5_hex = rtcm->bin_to_hex(test5);
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EXPECT_EQ(0, test5_hex.compare("1101"));
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std::string test6 = "0011";
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std::string test6_hex = rtcm->bin_to_hex(test6);
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EXPECT_EQ(0, test6_hex.compare("3"));
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std::string test7 = "11";
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std::string test7_hex = rtcm->bin_to_hex(test7);
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EXPECT_EQ(0, test7_hex.compare("3"));
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std::string test8 = "1000100000001";
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std::string test8_hex = rtcm->bin_to_hex(test8);
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EXPECT_EQ(0, test8_hex.compare("1101"));
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}
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TEST(RtcmTest, HexToInt)
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{
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auto rtcm = std::make_shared<Rtcm>();
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std::string test1 = "2A";
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int64_t test1_int = rtcm->hex_to_int(test1);
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int64_t expected1 = 42;
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EXPECT_EQ(expected1, test1_int);
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}
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TEST(RtcmTest, HexToUint)
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{
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auto rtcm = std::make_shared<Rtcm>();
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uint64_t expected1 = 42;
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EXPECT_EQ(expected1, rtcm->hex_to_uint(rtcm->bin_to_hex("00101010")));
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}
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TEST(RtcmTest, BinToDouble)
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{
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auto rtcm = std::make_shared<Rtcm>();
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std::bitset<4> test1(5);
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int64_t test1_int = static_cast<int64_t>(rtcm->bin_to_double(test1.to_string()));
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int64_t expected1 = 5;
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EXPECT_EQ(expected1, test1_int);
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std::bitset<4> test2(-5);
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EXPECT_DOUBLE_EQ(-5, rtcm->bin_to_double(test2.to_string()));
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std::bitset<65> test3(-5);
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EXPECT_DOUBLE_EQ(0, rtcm->bin_to_double(test3.to_string()));
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}
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TEST(RtcmTest, BinToUint)
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{
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auto rtcm = std::make_shared<Rtcm>();
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uint32_t expected1 = 42;
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EXPECT_EQ(expected1, rtcm->bin_to_uint("00101010"));
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uint32_t expected2 = 214;
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EXPECT_EQ(expected2, rtcm->bin_to_uint("11010110"));
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}
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TEST(RtcmTest, BinToInt)
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{
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auto rtcm = std::make_shared<Rtcm>();
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int32_t expected1 = 42;
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EXPECT_EQ(expected1, rtcm->bin_to_int("00101010"));
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int32_t expected2 = -42;
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EXPECT_EQ(expected2, rtcm->bin_to_int("11010110"));
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}
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TEST(RtcmTest, BinToBinaryData)
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{
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auto rtcm = std::make_shared<Rtcm>();
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std::string bin_str("1101101011010110");
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std::string data_str = rtcm->bin_to_binary_data(bin_str);
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std::string test_binary = data_str.substr(0, 1);
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std::string test_bin = rtcm->binary_data_to_bin(test_binary);
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std::string test_hex = rtcm->bin_to_hex(test_bin);
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EXPECT_EQ(0, test_hex.compare("DA"));
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std::string recovered_str = rtcm->binary_data_to_bin(data_str);
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EXPECT_EQ(0, recovered_str.compare(bin_str));
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}
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TEST(RtcmTest, CheckCRC)
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{
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auto rtcm = std::make_shared<Rtcm>();
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bool expected_true = true;
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bool expected_false = false;
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std::string good_crc = rtcm->bin_to_binary_data(rtcm->hex_to_bin("D300133ED7D30202980EDEEF34B4BD62AC0941986F33360B98"));
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std::string bad_crc = rtcm->bin_to_binary_data(rtcm->hex_to_bin("D300133ED7D30202980EDEEF34B4BD62AC0941986F33360B99"));
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EXPECT_EQ(expected_true, rtcm->check_CRC(good_crc));
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EXPECT_EQ(expected_false, rtcm->check_CRC(bad_crc));
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EXPECT_EQ(expected_true, rtcm->check_CRC(rtcm->print_MT1005_test()));
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EXPECT_EQ(expected_true, rtcm->check_CRC(rtcm->print_MT1005_test())); // Run twice to check that CRC has no memory
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}
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TEST(RtcmTest, MT1001)
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{
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auto rtcm = std::make_shared<Rtcm>();
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Gps_Ephemeris gps_eph = Gps_Ephemeris();
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Gnss_Synchro gnss_synchro;
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gnss_synchro.PRN = 2;
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std::string sys = "G";
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bool expected_true = true;
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unsigned short station_id = 1234;
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std::string sig = "1C";
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gnss_synchro.System = *sys.c_str();
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std::memcpy(static_cast<void*>(gnss_synchro.Signal), sig.c_str(), 3);
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gnss_synchro.Pseudorange_m = 20000000.0;
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double obs_time = 25.0;
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std::map<int, Gnss_Synchro> pseudoranges;
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pseudoranges.insert(std::pair<int, Gnss_Synchro>(1, gnss_synchro));
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std::string MT1001 = rtcm->print_MT1001(gps_eph, obs_time, pseudoranges, station_id);
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EXPECT_EQ(expected_true, rtcm->check_CRC(MT1001));
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}
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TEST(RtcmTest, MT1005)
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{
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auto rtcm = std::make_shared<Rtcm>();
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std::string reference_msg = rtcm->print_MT1005_test();
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std::string reference_msg2 = rtcm->print_MT1005(2003, 1114104.5999, -4850729.7108, 3975521.4643, true, false, false, false, false, 0);
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EXPECT_EQ(0, reference_msg.compare(reference_msg2));
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unsigned int ref_id;
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double ecef_x;
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double ecef_y;
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double ecef_z;
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bool gps;
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bool glonass;
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bool galileo;
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bool expected_true = true;
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bool expected_false = false;
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rtcm->read_MT1005(reference_msg, ref_id, ecef_x, ecef_y, ecef_z, gps, glonass, galileo);
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EXPECT_EQ(expected_true, gps);
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EXPECT_EQ(expected_false, glonass);
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EXPECT_EQ(expected_false, galileo);
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EXPECT_EQ(static_cast<unsigned int>(2003), ref_id);
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EXPECT_DOUBLE_EQ(1114104.5999, ecef_x);
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EXPECT_DOUBLE_EQ(-4850729.7108, ecef_y);
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EXPECT_DOUBLE_EQ(3975521.4643, ecef_z);
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gps = false;
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ecef_x = 0.0;
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rtcm->read_MT1005(rtcm->bin_to_binary_data(rtcm->hex_to_bin("D300133ED7D30202980EDEEF34B4BD62AC0941986F33360B98")), ref_id, ecef_x, ecef_y, ecef_z, gps, glonass, galileo);
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EXPECT_EQ(expected_true, gps);
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EXPECT_EQ(expected_false, glonass);
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EXPECT_EQ(expected_false, galileo);
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EXPECT_EQ(static_cast<unsigned int>(2003), ref_id);
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EXPECT_DOUBLE_EQ(1114104.5999, ecef_x);
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EXPECT_DOUBLE_EQ(-4850729.7108, ecef_y);
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EXPECT_DOUBLE_EQ(3975521.4643, ecef_z);
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}
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TEST(RtcmTest, MT1019)
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{
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auto rtcm = std::make_shared<Rtcm>();
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bool expected_true = true;
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Gps_Ephemeris gps_eph = Gps_Ephemeris();
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Gps_Ephemeris gps_eph_read = Gps_Ephemeris();
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gps_eph.PRN = 3;
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gps_eph.IODC = 4;
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gps_eph.ecc = 2.0 * ECCENTRICITY_LSB;
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gps_eph.fit_interval_flag = true;
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std::string tx_msg = rtcm->print_MT1019(gps_eph);
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EXPECT_EQ(0, rtcm->read_MT1019(tx_msg, gps_eph_read));
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EXPECT_EQ(static_cast<unsigned int>(3), gps_eph_read.PRN);
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EXPECT_DOUBLE_EQ(4, gps_eph_read.IODC);
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EXPECT_DOUBLE_EQ(2.0 * ECCENTRICITY_LSB, gps_eph_read.ecc);
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EXPECT_EQ(expected_true, gps_eph_read.fit_interval_flag);
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EXPECT_EQ(1, rtcm->read_MT1019(rtcm->bin_to_binary_data(rtcm->hex_to_bin("FFFFFFFFFFF")), gps_eph_read));
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}
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TEST(RtcmTest, MT1020)
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{
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auto rtcm = std::make_shared<Rtcm>();
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// Objects to populate the ephemeris and utc fields
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Glonass_Gnav_Ephemeris gnav_ephemeris = Glonass_Gnav_Ephemeris();
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Glonass_Gnav_Utc_Model gnav_utc_model = Glonass_Gnav_Utc_Model();
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// Objects read, used for comparison
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Glonass_Gnav_Ephemeris gnav_ephemeris_read = Glonass_Gnav_Ephemeris();
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Glonass_Gnav_Utc_Model gnav_utc_model_read = Glonass_Gnav_Utc_Model();
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// Perform data read and print of special values types
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gnav_ephemeris.d_P_1 = 0.;
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// Bit distribution per fields
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gnav_ephemeris.d_t_k = 7560.;
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// Glonass signed values
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gnav_ephemeris.d_VXn = -0.490900039672852;
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// Bit distribution per fields dependent on other factors
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gnav_ephemeris.d_t_b = 8100.;
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// Binary flag representation
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gnav_ephemeris.d_P_3 = true;
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std::string tx_msg = rtcm->print_MT1020(gnav_ephemeris, gnav_utc_model);
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EXPECT_EQ(0, rtcm->read_MT1020(tx_msg, gnav_ephemeris_read, gnav_utc_model_read));
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EXPECT_EQ(gnav_ephemeris.d_P_1, gnav_ephemeris_read.d_P_1);
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EXPECT_TRUE(gnav_ephemeris.d_t_b - gnav_ephemeris_read.d_t_b < FLT_EPSILON);
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EXPECT_TRUE(gnav_ephemeris.d_VXn - gnav_ephemeris_read.d_VXn < FLT_EPSILON);
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EXPECT_TRUE(gnav_ephemeris.d_t_k - gnav_ephemeris.d_t_k < FLT_EPSILON);
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EXPECT_EQ(gnav_ephemeris.d_P_3, gnav_ephemeris_read.d_P_3);
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EXPECT_EQ(1, rtcm->read_MT1020(rtcm->bin_to_binary_data(rtcm->hex_to_bin("FFFFFFFFFFF")), gnav_ephemeris_read, gnav_utc_model_read));
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}
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TEST(RtcmTest, MT1029)
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{
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auto rtcm = std::make_shared<Rtcm>();
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std::string s_test("UTF-8 проверка wörter");
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unsigned int ref_id = 23;
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double obs_time = 0;
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Gps_Ephemeris gps_eph = Gps_Ephemeris();
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std::string m1029 = rtcm->bin_to_hex(rtcm->binary_data_to_bin(rtcm->print_MT1029(ref_id, gps_eph, obs_time, s_test)));
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std::string encoded_text = m1029.substr(24, 60);
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std::string expected_encoded_text("5554462D3820D0BFD180D0BED0B2D0B5D180D0BAD0B02077C3B672746572");
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EXPECT_EQ(0, expected_encoded_text.compare(encoded_text));
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std::string characters_to_follow = m1029.substr(22, 2);
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std::string expected_characters_to_follow("1E");
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EXPECT_EQ(0, expected_characters_to_follow.compare(characters_to_follow));
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}
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TEST(RtcmTest, MT1045)
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{
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auto rtcm = std::make_shared<Rtcm>();
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bool expected_true = true;
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Galileo_Ephemeris gal_eph = Galileo_Ephemeris();
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Galileo_Ephemeris gal_eph_read = Galileo_Ephemeris();
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gal_eph.PRN = 5;
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gal_eph.OMEGAdot = 53.0 * OMEGA_DOT_3_LSB;
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gal_eph.E5a_DVS = true;
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std::string tx_msg = rtcm->print_MT1045(gal_eph);
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EXPECT_EQ(0, rtcm->read_MT1045(tx_msg, gal_eph_read));
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EXPECT_EQ(expected_true, gal_eph_read.E5a_DVS);
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EXPECT_DOUBLE_EQ(53.0 * OMEGA_DOT_3_LSB, gal_eph_read.OMEGAdot);
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EXPECT_EQ(static_cast<unsigned int>(5), gal_eph_read.PRN);
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EXPECT_EQ(1, rtcm->read_MT1045(rtcm->bin_to_binary_data(rtcm->hex_to_bin("FFFFFFFFFFF")), gal_eph_read));
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}
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TEST(RtcmTest, MSMCell)
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{
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auto rtcm = std::make_shared<Rtcm>();
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Gps_Ephemeris gps_eph = Gps_Ephemeris();
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Galileo_Ephemeris gal_eph = Galileo_Ephemeris();
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// Glonass_Gnav_Ephemeris glo_gnav_eph = Glonass_Gnav_Ephemeris();
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std::map<int, Gnss_Synchro> pseudoranges;
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Gnss_Synchro gnss_synchro;
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Gnss_Synchro gnss_synchro2;
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Gnss_Synchro gnss_synchro3;
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Gnss_Synchro gnss_synchro4;
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Gnss_Synchro gnss_synchro5;
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Gnss_Synchro gnss_synchro6;
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gnss_synchro.PRN = 4;
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gnss_synchro2.PRN = 8;
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gnss_synchro3.PRN = 32;
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gnss_synchro4.PRN = 10;
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gnss_synchro5.PRN = 10;
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gnss_synchro6.PRN = 10;
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std::string gps = "G";
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std::string gal = "E";
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std::string glo = "R";
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std::string c1 = "1C";
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std::string s2 = "2S";
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std::string x5 = "5X";
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gnss_synchro.System = *gal.c_str();
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gnss_synchro2.System = *gps.c_str();
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gnss_synchro3.System = *gps.c_str();
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gnss_synchro4.System = *gal.c_str();
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gnss_synchro5.System = *gps.c_str();
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gnss_synchro6.System = *glo.c_str();
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std::memcpy(reinterpret_cast<void*>(gnss_synchro.Signal), x5.c_str(), 3);
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std::memcpy(reinterpret_cast<void*>(gnss_synchro2.Signal), s2.c_str(), 3);
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std::memcpy(reinterpret_cast<void*>(gnss_synchro3.Signal), c1.c_str(), 3);
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std::memcpy(reinterpret_cast<void*>(gnss_synchro4.Signal), x5.c_str(), 3);
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std::memcpy(reinterpret_cast<void*>(gnss_synchro5.Signal), c1.c_str(), 3);
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std::memcpy(reinterpret_cast<void*>(gnss_synchro6.Signal), c1.c_str(), 3);
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gnss_synchro.Pseudorange_m = 20000000.0;
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gnss_synchro2.Pseudorange_m = 20001010.0;
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gnss_synchro3.Pseudorange_m = 24002020.0;
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gnss_synchro4.Pseudorange_m = 20003010.1;
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gnss_synchro5.Pseudorange_m = 22003010.1;
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gnss_synchro6.Pseudorange_m = 22003010.1;
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pseudoranges.insert(std::pair<int, Gnss_Synchro>(1, gnss_synchro));
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pseudoranges.insert(std::pair<int, Gnss_Synchro>(2, gnss_synchro2));
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pseudoranges.insert(std::pair<int, Gnss_Synchro>(3, gnss_synchro3));
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pseudoranges.insert(std::pair<int, Gnss_Synchro>(4, gnss_synchro4));
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pseudoranges.insert(std::pair<int, Gnss_Synchro>(5, gnss_synchro5));
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pseudoranges.insert(std::pair<int, Gnss_Synchro>(6, gnss_synchro5));
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unsigned int ref_id = 1234;
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unsigned int clock_steering_indicator = 0;
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unsigned int external_clock_indicator = 0;
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int smooth_int = 0;
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bool divergence_free = false;
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bool more_messages = false;
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double obs_time = 25.0;
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gps_eph.PRN = gnss_synchro2.PRN;
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gal_eph.PRN = gnss_synchro.PRN;
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// glo_gnav_eph.PRN = gnss_synchro.PRN;
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std::string MSM1 = rtcm->print_MSM_1(gps_eph,
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{},
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|
gal_eph,
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|
{},
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|
obs_time,
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|
pseudoranges,
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|
ref_id,
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clock_steering_indicator,
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external_clock_indicator,
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smooth_int,
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divergence_free,
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more_messages);
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std::string MSM1_bin = rtcm->binary_data_to_bin(MSM1);
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unsigned int Nsat = 4;
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unsigned int Nsig = 3;
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unsigned int size_header = 14;
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unsigned int size_msg_length = 10;
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EXPECT_EQ(0, MSM1_bin.substr(size_header + size_msg_length + 169, Nsat * Nsig).compare("001010101100")); // check cell mask
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std::map<int, Gnss_Synchro> pseudoranges2;
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pseudoranges2.insert(std::pair<int, Gnss_Synchro>(1, gnss_synchro6));
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pseudoranges2.insert(std::pair<int, Gnss_Synchro>(1, gnss_synchro5));
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pseudoranges2.insert(std::pair<int, Gnss_Synchro>(2, gnss_synchro4));
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pseudoranges2.insert(std::pair<int, Gnss_Synchro>(3, gnss_synchro3));
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pseudoranges2.insert(std::pair<int, Gnss_Synchro>(4, gnss_synchro2));
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pseudoranges2.insert(std::pair<int, Gnss_Synchro>(5, gnss_synchro));
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pseudoranges2.insert(std::pair<int, Gnss_Synchro>(6, gnss_synchro));
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std::string MSM1_2 = rtcm->print_MSM_1(gps_eph,
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{},
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|
gal_eph,
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|
{},
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|
obs_time,
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|
pseudoranges2,
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|
ref_id,
|
|
clock_steering_indicator,
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|
external_clock_indicator,
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|
smooth_int,
|
|
divergence_free,
|
|
more_messages);
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std::string MSM1_bin_2 = rtcm->binary_data_to_bin(MSM1_2);
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EXPECT_EQ(0, MSM1_bin_2.substr(size_header + size_msg_length + 169, Nsat * Nsig).compare("001010001100")); // check cell mask
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Gnss_Synchro gnss_synchro7;
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gnss_synchro7.PRN = 10;
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gnss_synchro7.System = *gps.c_str();
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std::memcpy(reinterpret_cast<void*>(gnss_synchro7.Signal), s2.c_str(), 3);
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gnss_synchro7.Pseudorange_m = 24000000.0;
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std::map<int, Gnss_Synchro> pseudoranges3;
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pseudoranges3.insert(std::pair<int, Gnss_Synchro>(1, gnss_synchro));
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pseudoranges3.insert(std::pair<int, Gnss_Synchro>(2, gnss_synchro2));
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pseudoranges3.insert(std::pair<int, Gnss_Synchro>(3, gnss_synchro7));
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pseudoranges3.insert(std::pair<int, Gnss_Synchro>(4, gnss_synchro4));
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pseudoranges3.insert(std::pair<int, Gnss_Synchro>(5, gnss_synchro5));
|
|
|
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std::string MSM1_3 = rtcm->print_MSM_1(gps_eph,
|
|
{},
|
|
gal_eph,
|
|
{},
|
|
obs_time,
|
|
pseudoranges3,
|
|
ref_id,
|
|
clock_steering_indicator,
|
|
external_clock_indicator,
|
|
smooth_int,
|
|
divergence_free,
|
|
more_messages);
|
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std::string MSM1_bin_3 = rtcm->binary_data_to_bin(MSM1_3);
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EXPECT_EQ(0, MSM1_bin_3.substr(size_header + size_msg_length + 169, (Nsat - 1) * Nsig).compare("001010111")); // check cell mask
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}
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|
|
|
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TEST(RtcmTest, MSM1)
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|
{
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auto rtcm = std::make_shared<Rtcm>();
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bool expected_true = true;
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Gps_Ephemeris gps_eph = Gps_Ephemeris();
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|
std::map<int, Gnss_Synchro> pseudoranges;
|
|
|
|
Gnss_Synchro gnss_synchro;
|
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Gnss_Synchro gnss_synchro2;
|
|
Gnss_Synchro gnss_synchro3;
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|
Gnss_Synchro gnss_synchro4;
|
|
|
|
gnss_synchro.PRN = 2;
|
|
gnss_synchro2.PRN = 4;
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gnss_synchro3.PRN = 32;
|
|
gnss_synchro4.PRN = 4;
|
|
|
|
std::string sys = "G";
|
|
|
|
std::string sig = "1C";
|
|
std::string sig2 = "2S";
|
|
|
|
gnss_synchro.System = *sys.c_str();
|
|
gnss_synchro2.System = *sys.c_str();
|
|
gnss_synchro3.System = *sys.c_str();
|
|
gnss_synchro4.System = *sys.c_str();
|
|
|
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std::memcpy(static_cast<void*>(gnss_synchro.Signal), sig.c_str(), 3);
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std::memcpy(static_cast<void*>(gnss_synchro2.Signal), sig.c_str(), 3);
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std::memcpy(static_cast<void*>(gnss_synchro3.Signal), sig2.c_str(), 3);
|
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std::memcpy(static_cast<void*>(gnss_synchro4.Signal), sig2.c_str(), 3);
|
|
|
|
gnss_synchro.Pseudorange_m = 20000000.0;
|
|
gnss_synchro2.Pseudorange_m = 20001010.0;
|
|
gnss_synchro3.Pseudorange_m = 24002020.0;
|
|
gnss_synchro4.Pseudorange_m = 20003010.1;
|
|
|
|
pseudoranges.insert(std::pair<int, Gnss_Synchro>(1, gnss_synchro));
|
|
pseudoranges.insert(std::pair<int, Gnss_Synchro>(2, gnss_synchro2));
|
|
pseudoranges.insert(std::pair<int, Gnss_Synchro>(3, gnss_synchro3));
|
|
pseudoranges.insert(std::pair<int, Gnss_Synchro>(4, gnss_synchro4));
|
|
|
|
unsigned short ref_id = 1234;
|
|
unsigned int clock_steering_indicator = 0;
|
|
unsigned int external_clock_indicator = 0;
|
|
int smooth_int = 0;
|
|
bool divergence_free = false;
|
|
bool more_messages = false;
|
|
double obs_time = 25.0;
|
|
|
|
gps_eph.PRN = gnss_synchro.PRN;
|
|
|
|
std::string MSM1 = rtcm->print_MSM_1(gps_eph,
|
|
{}, {}, {},
|
|
obs_time,
|
|
pseudoranges,
|
|
ref_id,
|
|
clock_steering_indicator,
|
|
external_clock_indicator,
|
|
smooth_int,
|
|
divergence_free,
|
|
more_messages);
|
|
|
|
EXPECT_EQ(expected_true, rtcm->check_CRC(MSM1));
|
|
|
|
std::string MSM1_bin = rtcm->binary_data_to_bin(MSM1);
|
|
unsigned int Nsat = 3;
|
|
unsigned int Nsig = 2;
|
|
unsigned int size_header = 14;
|
|
unsigned int size_crc = 24;
|
|
unsigned int size_msg_length = 10;
|
|
unsigned int upper_bound = 169 + Nsat * 10 + 43 * Nsig;
|
|
unsigned int data_size = MSM1_bin.length() - size_header - size_msg_length - size_crc;
|
|
EXPECT_EQ(expected_true, upper_bound >= data_size);
|
|
EXPECT_EQ(0, MSM1_bin.substr(0, size_header).compare("11010011000000"));
|
|
EXPECT_EQ(ref_id, rtcm->bin_to_uint(MSM1_bin.substr(size_header + size_msg_length + 12, 12)));
|
|
EXPECT_EQ(0, MSM1_bin.substr(size_header + size_msg_length + 169, Nsat * Nsig).compare("101101")); // check cell mask
|
|
|
|
double meters_to_miliseconds = SPEED_OF_LIGHT_M_S * 0.001;
|
|
unsigned int rough_range_1 = static_cast<unsigned int>(std::floor(std::round(gnss_synchro.Pseudorange_m / meters_to_miliseconds / TWO_N10)) + 0.5) & 0x3FFu;
|
|
unsigned int rough_range_2 = static_cast<unsigned int>(std::floor(std::round(gnss_synchro2.Pseudorange_m / meters_to_miliseconds / TWO_N10)) + 0.5) & 0x3FFu;
|
|
unsigned int rough_range_4 = static_cast<unsigned int>(std::floor(std::round(gnss_synchro3.Pseudorange_m / meters_to_miliseconds / TWO_N10)) + 0.5) & 0x3FFu;
|
|
unsigned int read_pseudorange_1 = rtcm->bin_to_uint(MSM1_bin.substr(size_header + size_msg_length + 169 + Nsat * Nsig, 10));
|
|
unsigned int read_pseudorange_2 = rtcm->bin_to_uint(MSM1_bin.substr(size_header + size_msg_length + 169 + Nsat * Nsig + 10, 10));
|
|
unsigned int read_pseudorange_4 = rtcm->bin_to_uint(MSM1_bin.substr(size_header + size_msg_length + 169 + Nsat * Nsig + 20, 10));
|
|
|
|
EXPECT_EQ(rough_range_1, read_pseudorange_1);
|
|
EXPECT_EQ(rough_range_2, read_pseudorange_2);
|
|
EXPECT_EQ(rough_range_4, read_pseudorange_4);
|
|
|
|
int psrng4_s = static_cast<int>(std::round((gnss_synchro3.Pseudorange_m - std::round(gnss_synchro3.Pseudorange_m / meters_to_miliseconds / TWO_N10) * meters_to_miliseconds * TWO_N10) / meters_to_miliseconds / TWO_N24));
|
|
int read_psrng4_s = rtcm->bin_to_int(MSM1_bin.substr(size_header + size_msg_length + 169 + (Nsat * Nsig) + 30 + 15 * 3, 15));
|
|
EXPECT_EQ(psrng4_s, read_psrng4_s);
|
|
|
|
std::map<int, Gnss_Synchro> pseudoranges2;
|
|
pseudoranges2.insert(std::pair<int, Gnss_Synchro>(1, gnss_synchro4));
|
|
pseudoranges2.insert(std::pair<int, Gnss_Synchro>(2, gnss_synchro3));
|
|
pseudoranges2.insert(std::pair<int, Gnss_Synchro>(3, gnss_synchro2));
|
|
pseudoranges2.insert(std::pair<int, Gnss_Synchro>(4, gnss_synchro));
|
|
std::string MSM1_2 = rtcm->print_MSM_1(gps_eph,
|
|
{}, {}, {},
|
|
obs_time,
|
|
pseudoranges2,
|
|
ref_id,
|
|
clock_steering_indicator,
|
|
external_clock_indicator,
|
|
smooth_int,
|
|
divergence_free,
|
|
more_messages);
|
|
std::string MSM1_bin2 = rtcm->binary_data_to_bin(MSM1_2);
|
|
int read_psrng4_s_2 = rtcm->bin_to_int(MSM1_bin2.substr(size_header + size_msg_length + 169 + (Nsat * Nsig) + 30 + 15 * 3, 15));
|
|
EXPECT_EQ(psrng4_s, read_psrng4_s_2);
|
|
}
|
|
|
|
|
|
TEST(RtcmTest, InstantiateServer)
|
|
{
|
|
auto rtcm = std::make_shared<Rtcm>();
|
|
rtcm->run_server();
|
|
std::string msg("Hello");
|
|
rtcm->send_message(msg);
|
|
std::string test3 = "ff";
|
|
std::string test3_bin = rtcm->hex_to_bin(test3);
|
|
EXPECT_EQ(0, test3_bin.compare("11111111"));
|
|
rtcm->stop_server();
|
|
std::string test6 = "0011";
|
|
std::string test6_hex = rtcm->bin_to_hex(test6);
|
|
EXPECT_EQ(0, test6_hex.compare("3"));
|
|
uint64_t expected1 = 42;
|
|
EXPECT_EQ(expected1, rtcm->bin_to_uint("00101010"));
|
|
rtcm->run_server();
|
|
std::string test4_bin = rtcm->hex_to_bin(test3);
|
|
std::string s = rtcm->bin_to_binary_data(test4_bin);
|
|
rtcm->send_message(s);
|
|
rtcm->stop_server();
|
|
EXPECT_EQ(0, test4_bin.compare("11111111"));
|
|
}
|
|
|
|
|
|
TEST(RtcmTest, InstantiateServerWithoutClosing)
|
|
{
|
|
auto rtcm = std::make_shared<Rtcm>();
|
|
rtcm->run_server();
|
|
std::string msg("Hello");
|
|
rtcm->send_message(msg);
|
|
std::string test3 = "ff";
|
|
std::string test3_bin = rtcm->hex_to_bin(test3);
|
|
EXPECT_EQ(0, test3_bin.compare("11111111"));
|
|
}
|