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Tools: factor out common library for GSOF 

* Add tests too

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
This commit is contained in:
Ryan Friedman 2024-05-11 21:45:11 -06:00 committed by Andrew Tridgell
parent 921ef6cd36
commit 724e61fa70
6 changed files with 26 additions and 5 deletions
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1
Tools/ardupilotwaf/ardupilotwaf.py
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@ -38,6 +38,7 @@ COMMON_VEHICLE_DEPENDENT_LIBRARIES = [
'AP_Compass', 'AP_Compass',
'AP_Declination', 'AP_Declination',
'AP_GPS', 'AP_GPS',
'AP_GSOF',
'AP_HAL', 'AP_HAL',
'AP_HAL_Empty', 'AP_HAL_Empty',
'AP_InertialSensor', 'AP_InertialSensor',

1
Tools/scripts/run_astyle.py
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@ -23,6 +23,7 @@ class AStyleChecker(object):
self.directories_to_check = [ self.directories_to_check = [
'libraries/AP_DDS', 'libraries/AP_DDS',
'libraries/AP_ExternalControl', 'libraries/AP_ExternalControl',
'libraries/AP_GSOF',
] ]
self.files_to_check = [ self.files_to_check = [
pathlib.Path(s) for s in [ pathlib.Path(s) for s in [

6
libraries/AP_GPS/AP_GPS_GSOF.cpp
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@ -157,7 +157,8 @@ AP_GPS_GSOF::requestGSOF(const uint8_t messageType, const HW_Port portIndex, con
} }
bool bool
AP_GPS_GSOF::validate_com_port(const uint8_t com_port) const { AP_GPS_GSOF::validate_com_port(const uint8_t com_port) const
{
switch(com_port) { switch(com_port) {
case static_cast<uint8_t>(HW_Port::COM1): case static_cast<uint8_t>(HW_Port::COM1):
case static_cast<uint8_t>(HW_Port::COM2): case static_cast<uint8_t>(HW_Port::COM2):
@ -168,7 +169,8 @@ AP_GPS_GSOF::validate_com_port(const uint8_t com_port) const {
} }
void void
AP_GPS_GSOF::pack_state_data() { AP_GPS_GSOF::pack_state_data()
{
// TODO should we pack time data if there is no fix? // TODO should we pack time data if there is no fix?
state.time_week_ms = pos_time.time_week_ms; state.time_week_ms = pos_time.time_week_ms;
state.time_week = pos_time.time_week; state.time_week = pos_time.time_week;

3
libraries/AP_GSOF/tests/README.md Normal file
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@ -0,0 +1,3 @@
# GSOF Tests
A UDP packet of binary GSOF data is attached in the `gsof_data` file.

BIN
libraries/AP_GSOF/tests/gsof_gps.dat Normal file
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Binary file not shown.

20
libraries/AP_GSOF/tests/test_gsof.cpp
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@ -7,20 +7,34 @@
#include <AP_GSOF/AP_GSOF.h> #include <AP_GSOF/AP_GSOF.h>
#include <cstdio>
#include <cstdlib>
const AP_HAL::HAL &hal = AP_HAL::get_HAL(); const AP_HAL::HAL &hal = AP_HAL::get_HAL();
TEST(AP_GSOF, incomplete_packet) TEST(AP_GSOF, incomplete_packet)
{ {
AP_GSOF gsof; AP_GSOF gsof;
EXPECT_FALSE(gsof.parse(0)); EXPECT_FALSE(gsof.parse(0, 5));
} }
TEST(AP_GSOF, packet1) TEST(AP_GSOF, packet1)
{ {
// 02084072580000010a1e02e0680909009400000218000000000000000000000000000000000000000000000000080d000000000000000000000000000910000000000000000000000000000000000c260000000000000000000000000000000000000000000000000000000000000000000000000000a503 FILE* fp = std::fopen("libraries/AP_GSOF/tests/gsof_gps.dat", "rb");
EXPECT_NE(fp, nullptr);
AP_GSOF gsof; AP_GSOF gsof;
EXPECT_FALSE(gsof.parse(0)); char c = 0;
bool parsed = false;
while (c != EOF) {
c = fgetc (fp);
parsed |= gsof.parse((uint8_t)c, 5);
}
EXPECT_TRUE(parsed);
fclose(fp);
} }
AP_GTEST_MAIN() AP_GTEST_MAIN()