Ashin Walpola
d107534eb2
obu-firmware builds against the vanetza-idf C-ITS library, which until now came from the colleague's microbu-esp32c5 tree beside the repository and was not tracked here, so a clone of this repository could not build the firmware it ships. The library alone is now part of obu-firmware, as obu-firmware/external/vanetza-idf: their external/vanetza-idf at commit cf4b99f, unchanged (9775 files; see its PROVENANCE.md). CMake takes it from there by default; -DVANETZA_IDF_DIR still points the build elsewhere. The rest of the colleague's tree (their own VAM firmware, PKI tooling, station-link Python tools, the V2X2MAP bridge) stays out of this repository and gitignored; nothing is pushed to their repository. NOTES.md, docs/06, TODO.md and the pcap verifier's usage line point at the new location.
115 lines
3.3 KiB
C++
115 lines
3.3 KiB
C++
#include <gtest/gtest.h>
|
|
#include <vanetza/geonet/areas.hpp>
|
|
#include <vanetza/units/length.hpp>
|
|
|
|
using namespace vanetza::geonet;
|
|
namespace units = vanetza::units;
|
|
using units::si::meter;
|
|
using units::degree;
|
|
using units::si::square_meter;
|
|
|
|
TEST(Areas, cartesian_substraction) {
|
|
CartesianPosition a(-3.4 * meter , 8.3 * meter);
|
|
CartesianPosition b(34.8 * meter, -14.8 * meter);
|
|
CartesianPosition c = a - b;
|
|
EXPECT_DOUBLE_EQ(c.x / meter, -38.2);
|
|
EXPECT_DOUBLE_EQ(c.y / meter, 23.1);
|
|
}
|
|
|
|
TEST(Areas, geodetic_distance) {
|
|
GeodeticPosition a(48.76714 * degree, 11.43263 * degree);
|
|
GeodeticPosition b(-25.41272 * degree, -49.24815 * degree);
|
|
units::Length d = distance(a, b);
|
|
const double expected_m = 10185367.442;
|
|
// accept less than 0.5% error for this large distance
|
|
EXPECT_NEAR(d / meter, expected_m, 0.005 * expected_m);
|
|
EXPECT_DOUBLE_EQ(0.0, distance(a, a).value());
|
|
}
|
|
|
|
TEST(Areas, geometric_function_circle) {
|
|
Circle c;
|
|
c.r = 38.4 * meter;
|
|
CartesianPosition p(0.0 * meter, 0.0 * meter);
|
|
|
|
EXPECT_TRUE(at_center_point(c, p));
|
|
EXPECT_TRUE(inside_shape(c, p));
|
|
EXPECT_FALSE(outside_shape(c, p));
|
|
EXPECT_FALSE(at_shape_border(c, p));
|
|
|
|
p.x = 15.0 * meter;
|
|
p.y = 36.0 * meter;
|
|
EXPECT_TRUE(outside_shape(c, p));
|
|
}
|
|
|
|
TEST(Areas, geometric_function_rectangle) {
|
|
Rectangle r;
|
|
r.a = 8.5 * meter;
|
|
r.b = 3.0 * meter;
|
|
CartesianPosition p(-3.5 * meter, 2.9 * meter);
|
|
EXPECT_TRUE(inside_shape(r, p));
|
|
|
|
p.x = -8.6 * meter;
|
|
EXPECT_TRUE(outside_shape(r, p));
|
|
}
|
|
|
|
TEST(Areas, geometric_function_ellipse) {
|
|
Ellipse e;
|
|
e.a = 8.4 * meter;
|
|
e.b = 6.5 * meter;
|
|
CartesianPosition p(-7.6 * meter, 1.3 * meter);
|
|
EXPECT_TRUE(inside_shape(e, p));
|
|
|
|
p.y = -4.5 * meter;
|
|
EXPECT_TRUE(outside_shape(e, p));
|
|
}
|
|
|
|
TEST(Areas, local_cartesian) {
|
|
GeodeticPosition origin(48.76714 * degree, 11.43263 * degree); // THI
|
|
GeodeticPosition datum(48.7656 * degree, 11.4296 * degree); // ZAF
|
|
CartesianPosition pos = local_cartesian(origin, datum);
|
|
EXPECT_NEAR(pos.x / meter, -222.74, 1.0);
|
|
EXPECT_NEAR(pos.y / meter, -171.25, 1.0);
|
|
}
|
|
|
|
TEST(Areas, canonicalize) {
|
|
CartesianPosition point(3.0 * meter, 2.0 * meter);
|
|
units::Angle azimuth = units::Angle(30.0 * degree);
|
|
CartesianPosition canonical_point = canonicalize(point, azimuth);
|
|
EXPECT_NEAR(canonical_point.x / meter, 3.23, 0.01);
|
|
EXPECT_NEAR(canonical_point.y / meter, -1.59, 0.01);
|
|
}
|
|
|
|
TEST(Areas, inside_or_at_border) {
|
|
Rectangle r;
|
|
r.a = 300.0 * meter;
|
|
r.b = 170.0 * meter;
|
|
Area a;
|
|
a.shape = r;
|
|
a.angle = units::Angle(90.0 * degree);
|
|
a.position = GeodeticPosition(48.7656 * degree, 11.4296 * degree);
|
|
GeodeticPosition ego(48.76714 * degree, 11.43263 * degree);
|
|
EXPECT_FALSE(inside_or_at_border(a, ego));
|
|
a.angle = units::Angle(45.0 * degree);
|
|
EXPECT_TRUE(inside_or_at_border(a, ego));
|
|
}
|
|
|
|
TEST(Areas, area_size) {
|
|
Circle c;
|
|
c.r = 18.3 * meter;
|
|
Rectangle r;
|
|
r.a = 393.0 * meter;
|
|
r.b = 140.8 * meter;
|
|
Ellipse e;
|
|
e.a = 393.0 * meter;
|
|
e.b = 140.8 * meter;
|
|
|
|
Area a;
|
|
a.shape = c;
|
|
EXPECT_NEAR(area_size(a) / square_meter, 1052.0880, 0.0001);
|
|
a.shape = r;
|
|
EXPECT_NEAR(area_size(a) / square_meter, 221337.6000, 0.0001);
|
|
a.shape = e;
|
|
EXPECT_NEAR(area_size(a) / square_meter, 173838.1445, 0.0001);
|
|
}
|
|
|