Ashin Walpola
0e9525162d
obu-firmware builds against vanetza-idf from microbu-esp32c5/external, but that tree was gitignored, so a clone of this repository could not build the firmware it ships. It is now committed here as ordinary files in its own folder, microbu-esp32c5/: the colleague's commit cf4b99f plus the V2X2MAP bridge's signature verification (--trust) used on the bench. Nothing is fetched from or pushed to the colleague's repository; this repository and its remotes carry everything. The folder's own .gitignore keeps build output, downloaded components and private key material out, as it did there; the committed file set is identical to that repository's tracked files. The ESP32-C5 is still flashed from obu-firmware/, which only takes vanetza-idf from microbu-esp32c5/, so the two stay separate folders. FLASHING.md says how to take a newer version of the colleague's tree (copy it over the folder, rebuild, test, commit).
112 lines
4.5 KiB
C++
112 lines
4.5 KiB
C++
#include <gtest/gtest.h>
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#include <vanetza/asn1/cpm.hpp>
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using namespace vanetza;
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TEST(Cpm, decode_plain)
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{
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// generated with https://asn1.io/asn1playground
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// contains a minimum set of fields, i.e. no optional containers
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static const ByteBuffer cpm_uper = {
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0x01, 0xff, 0x00, 0x00, 0x05, 0x39, 0x00, 0x2a, 0x00, 0x03, 0x49, 0x04,
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0x84, 0x01, 0xc7, 0x61, 0x26, 0x00, 0x7d, 0x03, 0xe8, 0xe1, 0x36, 0xee,
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0x87, 0xc0, 0xc0
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};
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asn1::Cpm cpm;
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ASSERT_TRUE(cpm.decode(cpm_uper));
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EXPECT_EQ(1, cpm->header.protocolVersion);
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EXPECT_EQ(255, cpm->header.messageID);
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EXPECT_EQ(1337, cpm->header.stationID);
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EXPECT_EQ(42, cpm->cpm.generationDeltaTime);
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EXPECT_EQ(3, cpm->cpm.cpmParameters.numberOfPerceivedObjects);
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const auto& mgmt = cpm->cpm.cpmParameters.managementContainer;
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EXPECT_EQ(1, mgmt.stationType);
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EXPECT_EQ(480000000, mgmt.referencePosition.latitude);
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EXPECT_EQ(110000000, mgmt.referencePosition.longitude);
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EXPECT_EQ(800001, mgmt.referencePosition.altitude.altitudeValue);
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EXPECT_EQ(AltitudeConfidence_unavailable, mgmt.referencePosition.altitude.altitudeConfidence);
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EXPECT_EQ(500, mgmt.referencePosition.positionConfidenceEllipse.semiMajorConfidence);
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EXPECT_EQ(250, mgmt.referencePosition.positionConfidenceEllipse.semiMinorConfidence);
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EXPECT_EQ(900, mgmt.referencePosition.positionConfidenceEllipse.semiMajorOrientation);
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}
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TEST(Cpm, decode_one_perceived_object)
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{
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// generated with https://asn1.io/asn1playground
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// contains a single perceived object container
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static const ByteBuffer cpm_uper = {
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0x01, 0xff, 0x00, 0x00, 0x05, 0x39, 0x00, 0x2a, 0x10, 0x03, 0x49, 0x04,
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0x84, 0x01, 0xc7, 0x61, 0x26, 0x00, 0x7d, 0x03, 0xe8, 0xe1, 0x36, 0xee,
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0x87, 0xc0, 0x0c, 0x00, 0x01, 0x8e, 0x10, 0x7d, 0x0a, 0x2c, 0x9f, 0x0c,
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0x89, 0xa1, 0x21, 0x94, 0x00, 0xef, 0xd0, 0x07, 0x7f, 0x01, 0x80
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};
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asn1::Cpm cpm;
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ASSERT_TRUE(cpm.decode(cpm_uper));
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ASSERT_TRUE(cpm->cpm.cpmParameters.perceivedObjectContainer);
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EXPECT_EQ(1, cpm->cpm.cpmParameters.perceivedObjectContainer->list.count);
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const PerceivedObject_t* object = cpm->cpm.cpmParameters.perceivedObjectContainer->list.array[0];
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ASSERT_TRUE(object);
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EXPECT_EQ(12, object->objectID);
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EXPECT_EQ(300, object->timeOfMeasurement);
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ASSERT_TRUE(object->objectAge);
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EXPECT_EQ(500, *object->objectAge);
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EXPECT_EQ(20, object->objectConfidence);
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EXPECT_EQ(50000, object->xDistance.value);
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EXPECT_EQ(100, object->xDistance.confidence);
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EXPECT_EQ(25000, object->yDistance.value);
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EXPECT_EQ(50, object->yDistance.confidence);
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EXPECT_FALSE(object->zDistance);
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EXPECT_EQ(15, object->xSpeed.value);
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EXPECT_EQ(127, object->xSpeed.confidence);
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EXPECT_EQ(30, object->ySpeed.value);
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EXPECT_EQ(127, object->ySpeed.confidence);
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}
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TEST(Cpm, roundtrip)
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{
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// same payload as in decode_one_perceived_object test
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static const ByteBuffer cpm_uper = {
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0x01, 0xff, 0x00, 0x00, 0x05, 0x39, 0x00, 0x2a, 0x10, 0x03, 0x49, 0x04,
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0x84, 0x01, 0xc7, 0x61, 0x26, 0x00, 0x7d, 0x03, 0xe8, 0xe1, 0x36, 0xee,
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0x87, 0xc0, 0x0c, 0x00, 0x01, 0x8e, 0x10, 0x7d, 0x0a, 0x2c, 0x9f, 0x0c,
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0x89, 0xa1, 0x21, 0x94, 0x00, 0xef, 0xd0, 0x07, 0x7f, 0x01, 0x80
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};
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asn1::Cpm cpm;
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EXPECT_TRUE(cpm.decode(cpm_uper));
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EXPECT_EQ(cpm_uper, cpm.encode());
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}
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TEST(Cpm, encode_one_perceived_object)
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{
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asn1::Cpm cpm;
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cpm->cpm.cpmParameters.numberOfPerceivedObjects = 1;
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cpm->cpm.cpmParameters.perceivedObjectContainer = asn1::allocate<PerceivedObjectContainer_t>();
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auto object = asn1::allocate<PerceivedObject_t>();
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EXPECT_EQ(0, ASN_SEQUENCE_ADD(cpm->cpm.cpmParameters.perceivedObjectContainer, object));
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EXPECT_EQ(1, cpm->cpm.cpmParameters.perceivedObjectContainer->list.count);
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EXPECT_EQ(object, cpm->cpm.cpmParameters.perceivedObjectContainer->list.array[0]);
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object->objectID = 1;
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object->timeOfMeasurement = TimeOfMeasurement_oneMilliSecond;
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object->xDistance.value = DistanceValue_oneMeter;
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object->xDistance.confidence = DistanceConfidence_unavailable;
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object->yDistance.value = DistanceValue_oneMeter;
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object->yDistance.confidence = DistanceConfidence_unavailable;
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object->xSpeed.value = SpeedValueExtended_unavailable;
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object->xSpeed.confidence = SpeedConfidence_unavailable;
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object->ySpeed.value = SpeedValueExtended_unavailable;
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object->ySpeed.confidence = SpeedConfidence_unavailable;
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EXPECT_TRUE(cpm.validate());
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EXPECT_FALSE(cpm.encode().empty());
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}
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