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 FLASHING.md says how to take a newer version of the colleague's tree (copy it over the folder, rebuild, test, commit).
73 lines
2.2 KiB
C++
73 lines
2.2 KiB
C++
#include <gtest/gtest.h>
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#include <vanetza/geonet/position_vector.hpp>
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#include <vanetza/geonet/serialization_buffer.hpp>
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#include <vanetza/units/angle.hpp>
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using vanetza::ByteBuffer;
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using vanetza::MacAddress;
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using namespace vanetza::geonet;
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using vanetza::units::degree;
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TEST(PositionVector, lpv_serialization)
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{
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LongPositionVector lpv1;
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lpv1.gn_addr.is_manually_configured(true);
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lpv1.gn_addr.station_type(StationType::Motorcycle);
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lpv1.gn_addr.country_code(0x0333);
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lpv1.gn_addr.mid(MacAddress { 1, 2, 3, 0xa, 0xb, 0xc });
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lpv1.timestamp += 4321 * Timestamp::millisecond();
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lpv1.latitude = geo_angle_i32t::from_value(0x1234);
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lpv1.longitude = geo_angle_i32t::from_value(0xabcd);
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lpv1.position_accuracy_indicator = false;
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lpv1.speed = LongPositionVector::speed_u15t::from_value(12345);
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lpv1.heading.from_value(0xef);
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ByteBuffer buffer;
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serialize_into_buffer(lpv1, buffer);
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EXPECT_EQ(LongPositionVector::length_bytes, buffer.size());
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LongPositionVector lpv2;
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deserialize_from_buffer(lpv2, buffer);
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EXPECT_EQ(lpv1.gn_addr, lpv2.gn_addr);
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EXPECT_EQ(lpv1, lpv2);
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}
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TEST(PositionVector, zero_initialized)
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{
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// "At start-up, all data elements of the LPV shall be initialized
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// with 0 to indicate an unknown value." (EN 302 636-4-1 V1.2.0)
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LongPositionVector lpv;
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EXPECT_TRUE(is_empty(lpv));
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ByteBuffer buffer;
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serialize_into_buffer(lpv, buffer);
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ByteBuffer zero;
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zero.assign(LongPositionVector::length_bytes, 0x00);
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EXPECT_EQ(zero, buffer);
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}
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TEST(PositionVector, is_valid)
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{
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LongPositionVector lpv;
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EXPECT_FALSE(is_valid(lpv));
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lpv.latitude = geo_angle_i32t { 30.0 * degree };
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EXPECT_TRUE(is_valid(lpv));
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lpv.heading = heading_u16t { 361.0 * degree };
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EXPECT_FALSE(is_valid(lpv));
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lpv.heading = heading_u16t { 180.0 * degree };
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EXPECT_TRUE(is_valid(lpv));
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lpv.latitude = geo_angle_i32t { -91.0 * degree };
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EXPECT_FALSE(is_valid(lpv));
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lpv.latitude = geo_angle_i32t::from_value(0);
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lpv.longitude = geo_angle_i32t { 175.0 * degree };
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EXPECT_TRUE(is_valid(lpv));
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lpv.longitude = geo_angle_i32t { 185.0 * degree };
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EXPECT_FALSE(is_valid(lpv));
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}
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