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 FLASHING.md says how to take a newer version of the colleague's tree (copy it over the folder, rebuild, test, commit).
110 lines
2.7 KiB
C++
110 lines
2.7 KiB
C++
#include <gtest/gtest.h>
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#include <vanetza/common/manual_runtime.hpp>
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#include <vanetza/common/position_provider.hpp>
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#include <vanetza/geonet/mib.hpp>
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#include <vanetza/geonet/position_updater.hpp>
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#include <vanetza/geonet/router.hpp>
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#include <chrono>
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using namespace vanetza;
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using namespace vanetza::geonet;
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using namespace std::chrono;
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class IncrementalPositionProvider : public PositionProvider
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{
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public:
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const PositionFix& position_fix() override
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{
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next_position();
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return position;
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}
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private:
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void next_position()
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{
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++updates;
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position.latitude = updates * 3.0 * units::degree;
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position.longitude = updates * -1.5 * units::degree;
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position.confidence.semi_minor = 25.0 * units::si::meter;
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position.confidence.semi_major = 25.0 * units::si::meter;
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}
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unsigned updates = 0;
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PositionFix position;
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};
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class PositionUpdaterTest : public ::testing::Test
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{
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public:
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PositionUpdaterTest() :
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router(runtime, mib), updater(runtime, positioning, router)
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{
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}
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void SetUp() override
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{
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mib.itsGnSecurity = false; /*< no security entity required */
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mib.itsGnMinimumUpdateFrequencyEPV = 1.0 * units::si::hertz;
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}
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unsigned lpv_updates()
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{
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units::GeoAngle latitude { router.get_local_position_vector().latitude };
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return latitude.value() / 3;
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}
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protected:
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ManualRuntime runtime;
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MIB mib;
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Router router;
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IncrementalPositionProvider positioning;
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PositionUpdater updater;
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};
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TEST_F(PositionUpdaterTest, default_update_rate)
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{
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EXPECT_EQ(0, lpv_updates());
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runtime.trigger(milliseconds(950));
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EXPECT_EQ(0, lpv_updates());
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runtime.trigger(milliseconds(60));
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EXPECT_EQ(1, lpv_updates());
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runtime.trigger(seconds(1));
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EXPECT_EQ(2, lpv_updates());
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runtime.trigger(seconds(1));
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EXPECT_EQ(3, lpv_updates());
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}
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TEST_F(PositionUpdaterTest, custom_update_interval)
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{
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updater.update_rate(seconds(10));
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runtime.trigger(seconds(9));
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EXPECT_EQ(0, lpv_updates());
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runtime.trigger(seconds(1));
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EXPECT_EQ(1, lpv_updates());
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runtime.trigger(seconds(10));
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EXPECT_EQ(2, lpv_updates());
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}
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TEST_F(PositionUpdaterTest, custom_update_frequency)
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{
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updater.update_rate(4.0 * units::si::hertz);
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runtime.trigger(milliseconds(250));
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EXPECT_EQ(1, lpv_updates());
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runtime.trigger(milliseconds(250));
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EXPECT_EQ(2, lpv_updates());
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}
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TEST_F(PositionUpdaterTest, zero_hertz)
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{
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updater.update_rate(0.0 * units::si::hertz);
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runtime.trigger(seconds(60));
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EXPECT_EQ(0, lpv_updates());
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}
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TEST_F(PositionUpdaterTest, negative_interval)
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{
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updater.update_rate(milliseconds(-200));
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runtime.trigger(seconds(60));
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EXPECT_EQ(0, lpv_updates());
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}
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