469 lines
16 KiB
Python
469 lines
16 KiB
Python
# pylint: disable=missing-function-docstring,missing-module-docstring,invalid-name,protected-access,no-self-use,missing-class-docstring
|
|
|
|
# SPDX-FileCopyrightText: 2021 Jonas Kittner
|
|
#
|
|
# SPDX-License-Identifier: MIT
|
|
import time
|
|
from unittest import mock
|
|
from freezegun import freeze_time
|
|
import pytest
|
|
|
|
from adafruit_gps import _parse_degrees
|
|
from adafruit_gps import _parse_int
|
|
from adafruit_gps import _parse_float
|
|
from adafruit_gps import _parse_str
|
|
from adafruit_gps import _read_degrees
|
|
from adafruit_gps import _parse_talker
|
|
from adafruit_gps import _parse_data
|
|
from adafruit_gps import GPS
|
|
|
|
|
|
@pytest.mark.parametrize(
|
|
("val", "exp"),
|
|
(
|
|
pytest.param("0023.456", 390933, id="leading zero"),
|
|
pytest.param("6413.9369", 64232281, id="regular value"),
|
|
pytest.param("2747.416122087989", 27790268, id="long value"),
|
|
),
|
|
)
|
|
def test_parse_degrees(val, exp):
|
|
assert _parse_degrees(val) == pytest.approx(exp)
|
|
|
|
|
|
def test_parse_degrees_too_short():
|
|
assert _parse_degrees("12") is None
|
|
|
|
|
|
def test_parse_int():
|
|
assert _parse_int("456") == 456
|
|
|
|
|
|
@pytest.mark.parametrize(
|
|
"val",
|
|
(None, ""),
|
|
)
|
|
def test_parse_int_invalid(val):
|
|
assert _parse_int(val) is None
|
|
|
|
|
|
def test_parse_float():
|
|
assert _parse_float("456") == 456
|
|
|
|
|
|
@pytest.mark.parametrize(
|
|
"val",
|
|
(None, ""),
|
|
)
|
|
def test_parse_float_invalid(val):
|
|
assert _parse_float(val) is None
|
|
|
|
|
|
@pytest.mark.parametrize(
|
|
("data", "neg", "exp"),
|
|
(
|
|
pytest.param([27790270, "S"], "s", -27.79027, id="south negative"),
|
|
pytest.param([64232280, "N"], "s", 64.23228, id="north not negative"),
|
|
pytest.param([123456700, "W"], "w", -123.4567, id="west negative"),
|
|
pytest.param([10789100, "E"], "w", 10.7891, id="east not negative"),
|
|
),
|
|
)
|
|
def test_read_degrees(data, neg, exp):
|
|
assert _read_degrees(data, 0, neg) == exp
|
|
|
|
|
|
@pytest.mark.parametrize(
|
|
"val",
|
|
(None, ""),
|
|
)
|
|
def test_parse_str_invalid(val):
|
|
assert _parse_str(val) is None
|
|
|
|
|
|
def test_parse_str_valid():
|
|
assert _parse_str(13) == "13"
|
|
|
|
|
|
def test_parse_talker_prop_code():
|
|
assert _parse_talker(b"PMTK001") == (b"P", b"MTK001")
|
|
|
|
|
|
def test_parse_talker_regular():
|
|
assert _parse_talker(b"GPRMC") == (b"GP", b"RMC")
|
|
|
|
|
|
@pytest.mark.parametrize(
|
|
"sentence_type",
|
|
(-1, 10),
|
|
)
|
|
def test_parse_data_unknown_sentence_type(sentence_type):
|
|
assert _parse_data(sentence_type, data=[]) is None
|
|
|
|
|
|
def test_param_types_does_not_match_data_items():
|
|
assert _parse_data(sentence_type=1, data=["too", "few", "items"]) is None
|
|
|
|
|
|
def test_parse_data_unexpected_parameter_type():
|
|
with mock.patch("adafruit_gps._SENTENCE_PARAMS", ("xyz",)):
|
|
with pytest.raises(TypeError) as exc_info:
|
|
_parse_data(sentence_type=0, data=["a", "b", "c"])
|
|
|
|
assert exc_info.value.args[0] == "GPS: Unexpected parameter type 'x'"
|
|
|
|
|
|
class UartMock:
|
|
"""mocking the UART connection an its methods"""
|
|
|
|
def write(self, bytestr):
|
|
print(bytestr, end="")
|
|
|
|
@property
|
|
def in_waiting(self):
|
|
return 100
|
|
|
|
|
|
def test_read_sentence_too_few_in_waiting():
|
|
with mock.patch.object(GPS, "readline", return_value="x"):
|
|
|
|
class UartMockWaiting(UartMock):
|
|
@property
|
|
def in_waiting(self):
|
|
# overwrite the in_waiting property to perform the test
|
|
return 3
|
|
|
|
gps = GPS(uart=UartMockWaiting())
|
|
assert not gps.update()
|
|
|
|
|
|
def test_GPS_update_timestamp_UTC_date_None():
|
|
gps = GPS(uart=UartMock())
|
|
assert gps.datetime is None
|
|
assert gps.timestamp_utc is None
|
|
exp_struct = time.struct_time((0, 0, 0, 22, 14, 11, 0, 0, -1))
|
|
gps._update_timestamp_utc(time_utc="221411")
|
|
assert gps.timestamp_utc == exp_struct
|
|
|
|
|
|
def test_GPS_update_timestamp_UTC_date_not_None():
|
|
gps = GPS(uart=UartMock())
|
|
exp_struct = time.struct_time((2021, 10, 2, 22, 14, 11, 0, 0, -1))
|
|
gps._update_timestamp_utc(time_utc="221411", date="021021")
|
|
assert gps.timestamp_utc == exp_struct
|
|
|
|
|
|
def test_GPS_update_timestamp_timestamp_utc_was_not_none_new_date_none():
|
|
gps = GPS(uart=UartMock())
|
|
# set this to a value
|
|
gps.timestamp_utc = time.struct_time((2021, 10, 2, 22, 10, 11, 0, 0, -1))
|
|
exp_struct = time.struct_time((2021, 10, 2, 22, 14, 11, 0, 0, -1))
|
|
# update the timestamp
|
|
gps._update_timestamp_utc(time_utc="221411")
|
|
assert gps.timestamp_utc == exp_struct
|
|
|
|
|
|
def test_GPS_update_with_unknown_talker():
|
|
r = b"$XYRMC,215032.086,A,1234.5678,N,00123.12345,E,0.45,56.35,021021,,,A*7c\r\n"
|
|
with mock.patch.object(GPS, "readline", return_value=r):
|
|
gps = GPS(uart=UartMock())
|
|
assert gps.update()
|
|
|
|
|
|
def test_GPS_update_rmc_no_magnetic_variation():
|
|
r = b"$GPRMC,215032.086,A,1234.5678,N,00123.12345,E,0.45,56.35,021021,,,A*6A\r\n"
|
|
with mock.patch.object(GPS, "readline", return_value=r):
|
|
gps = GPS(uart=UartMock())
|
|
assert gps.update()
|
|
exp_time = time.struct_time((2021, 10, 2, 21, 50, 32, 0, 0, -1))
|
|
assert gps.timestamp_utc == exp_time
|
|
assert gps.latitude == pytest.approx(12.57613)
|
|
assert gps.longitude == pytest.approx(1.385391)
|
|
assert gps.fix_quality == 1
|
|
assert gps.fix_quality_3d == 0
|
|
assert gps.speed_knots == 0.45
|
|
assert gps.track_angle_deg == 56.35
|
|
assert gps._magnetic_variation is None
|
|
assert gps._mode_indicator == "A"
|
|
assert gps.has_fix is True
|
|
assert gps.has_3d_fix is False
|
|
assert gps.datetime == exp_time
|
|
assert (
|
|
gps._raw_sentence
|
|
== "$GPRMC,215032.086,A,1234.5678,N,00123.12345,E,0.45,56.35,021021,,,A*6A"
|
|
)
|
|
assert (
|
|
gps.nmea_sentence
|
|
== "$GPRMC,215032.086,A,1234.5678,N,00123.12345,E,0.45,56.35,021021,,,A*6A"
|
|
)
|
|
|
|
|
|
def test_GPS_update_rmc_fix_is_set():
|
|
r_valid = (
|
|
b"$GPRMC,215032.086,A,1234.5678,N,00123.12345,E,0.45,56.35,021021,,,A*6A\r\n"
|
|
)
|
|
r_invalid = (
|
|
b"$GPRMC,215032.086,V,1234.5678,N,00123.12345,E,0.45,56.35,021021,,,A*7D\r\n"
|
|
)
|
|
with mock.patch.object(GPS, "readline", return_value=r_valid):
|
|
gps = GPS(uart=UartMock())
|
|
assert gps.update()
|
|
assert gps.fix_quality == 1
|
|
assert gps.has_fix is True
|
|
|
|
with mock.patch.object(gps, "readline", return_value=r_invalid):
|
|
assert gps.update()
|
|
assert gps.fix_quality == 0
|
|
assert gps.has_fix is False
|
|
|
|
|
|
def test_GPS_update_rmc_fix_is_set_new():
|
|
r_valid = (
|
|
b"$GPRMC,215032.086,A,1234.5678,N,00123.12345,E,0.45,56.35,021021,,,A*6A\r\n"
|
|
)
|
|
r_invalid = b"$GPRMC,215032.086,V,ABC,N,00123.12345,E,0.45,56.35,021021,,,A*1B\r\n"
|
|
with mock.patch.object(GPS, "readline", return_value=r_valid):
|
|
gps = GPS(uart=UartMock())
|
|
assert gps.update()
|
|
assert gps.fix_quality == 1
|
|
assert gps.has_fix is True
|
|
# now get an invalid response --> set fix_quality to 0
|
|
with mock.patch.object(gps, "readline", return_value=r_invalid):
|
|
assert not gps.update()
|
|
assert gps.fix_quality == 0
|
|
assert gps.has_fix is False
|
|
|
|
|
|
def test_GPS_update_rmc_invalid_checksum():
|
|
r = b"$GPRMC,215032.086,A,1234.5678,N,00123.12345,E,0.45,56.35,021021,,,A*5C\r\n"
|
|
with mock.patch.object(GPS, "readline", return_value=r):
|
|
gps = GPS(uart=UartMock())
|
|
assert not gps.update()
|
|
|
|
|
|
def test_GPS_update_empty_sentence():
|
|
with mock.patch.object(GPS, "readline", return_value=b""):
|
|
gps = GPS(uart=UartMock())
|
|
assert not gps.update()
|
|
|
|
|
|
@pytest.mark.parametrize(
|
|
("r", "exp"),
|
|
(
|
|
pytest.param(
|
|
b"$GPRMC,215032.086,A,1234.5678,N,00123.12345,E,0.45,56.35,021021,1234.56,W,A*14\r\n",
|
|
-12.576,
|
|
id="W",
|
|
),
|
|
pytest.param(
|
|
b"$GPRMC,215032.086,A,1234.5678,N,00123.12345,E,0.45,56.35,021021,1234.56,E,A*06\r\n",
|
|
12.576,
|
|
id="E",
|
|
),
|
|
),
|
|
)
|
|
def test_GPS_update_rmc_has_magnetic_variation(r, exp):
|
|
with mock.patch.object(GPS, "readline", return_value=r):
|
|
gps = GPS(uart=UartMock())
|
|
assert gps.update()
|
|
assert gps._magnetic_variation == pytest.approx(exp)
|
|
|
|
|
|
def test_parse_sentence_invalid_delimiter():
|
|
with mock.patch.object(GPS, "readline", return_value=b"a;b;c;d;12*66"):
|
|
gps = GPS(uart=UartMock())
|
|
assert gps._parse_sentence() is None
|
|
|
|
|
|
def test_GPS_update_sentence_is_None():
|
|
with mock.patch.object(GPS, "_parse_sentence", return_value=None):
|
|
gps = GPS(uart=UartMock())
|
|
assert not gps.update()
|
|
|
|
|
|
def test_GPS_update_rmc_debug_shows_sentence(capsys):
|
|
r = b"$GPRMC,215032.086,A,1234.5678,N,00123.12345,E,0.45,56.35,021021,,,A*6A\r\n"
|
|
with mock.patch.object(GPS, "readline", return_value=r):
|
|
gps = GPS(uart=UartMock(), debug=True)
|
|
assert gps.update()
|
|
out, err = capsys.readouterr()
|
|
assert err == ""
|
|
assert (
|
|
out
|
|
== "('GPRMC', '215032.086,A,1234.5678,N,00123.12345,E,0.45,56.35,021021,,,A')\n"
|
|
)
|
|
|
|
|
|
def test_GPS_update_data_type_too_short():
|
|
r = ("GPRM", "x,y,z")
|
|
with mock.patch.object(GPS, "_parse_sentence", return_value=r):
|
|
gps = GPS(uart=UartMock(), debug=True)
|
|
assert not gps.update()
|
|
|
|
|
|
def test_GPS_send_command_with_checksum(capsys):
|
|
gps = GPS(uart=UartMock())
|
|
gps.send_command(command=b"$PMTK001,314,3\r\n", add_checksum=True)
|
|
out, err = capsys.readouterr()
|
|
assert err == ""
|
|
assert out == ("b'$'" "b'$PMTK001,314,3\\r\\n'" "b'*'" "b'15'" "b'\\r\\n'")
|
|
|
|
|
|
def test_GPS_send_command_without_checksum(capsys):
|
|
gps = GPS(uart=UartMock())
|
|
gps.send_command(command=b"$PMTK001,314,3\r\n", add_checksum=False)
|
|
out, err = capsys.readouterr()
|
|
assert err == ""
|
|
assert out == ("b'$'" "b'$PMTK001,314,3\\r\\n'" "b'\\r\\n'")
|
|
|
|
|
|
def test_GPS_update_from_GLL():
|
|
r = b"$GPGLL,4916.45,N,12311.12,W,225444,A,A*5c\r\n"
|
|
with mock.patch.object(GPS, "readline", return_value=r):
|
|
gps = GPS(uart=UartMock())
|
|
assert gps.update()
|
|
exp_time = time.struct_time((0, 0, 0, 22, 54, 44, 0, 0, -1))
|
|
assert gps.timestamp_utc == exp_time
|
|
assert gps.latitude == pytest.approx(49.27417)
|
|
assert gps.longitude == pytest.approx(-123.1853)
|
|
assert gps.isactivedata == "A"
|
|
assert gps._mode_indicator == "A"
|
|
assert gps.fix_quality == 0
|
|
assert gps.fix_quality_3d == 0
|
|
assert gps.has_fix is False
|
|
assert gps.has_3d_fix is False
|
|
assert gps._raw_sentence == "$GPGLL,4916.45,N,12311.12,W,225444,A,A*5c"
|
|
assert gps.nmea_sentence == "$GPGLL,4916.45,N,12311.12,W,225444,A,A*5c"
|
|
|
|
|
|
def test_GPS_update_from_RMC():
|
|
r = b"$GNRMC,001031.00,A,4404.13993,N,12118.86023,W,0.146,084.4,100117,,,A*5d\r\n"
|
|
# TODO: length 13 and 14 version
|
|
with mock.patch.object(GPS, "readline", return_value=r):
|
|
gps = GPS(uart=UartMock())
|
|
assert gps.update()
|
|
exp_time = time.struct_time((2017, 1, 10, 0, 10, 31, 0, 0, -1))
|
|
assert gps.timestamp_utc == exp_time
|
|
assert gps.datetime == exp_time
|
|
assert gps.isactivedata == "A"
|
|
assert gps.fix_quality == 1
|
|
assert gps.has_fix is True
|
|
assert gps.has_3d_fix is False
|
|
assert gps.latitude == pytest.approx(44.069)
|
|
assert gps.longitude == pytest.approx(-121.3143)
|
|
assert gps.speed_knots == 0.146
|
|
assert gps.track_angle_deg == 84.4
|
|
assert gps._magnetic_variation is None
|
|
assert gps._mode_indicator == "A"
|
|
|
|
|
|
def test_GPS_update_from_GGA():
|
|
r = b"$GPGGA,123519,4807.038,N,01131.000,E,1,08,0.9,545.4,M,46.9,M,,*47\r\n"
|
|
with mock.patch.object(GPS, "readline", return_value=r):
|
|
gps = GPS(uart=UartMock())
|
|
assert gps.update()
|
|
exp_time = time.struct_time((0, 0, 0, 12, 35, 19, 0, 0, -1))
|
|
assert gps.timestamp_utc == exp_time
|
|
assert gps.latitude == pytest.approx(48.1173)
|
|
assert gps.longitude == pytest.approx(11.51667)
|
|
assert gps.fix_quality == 1
|
|
assert gps.fix_quality_3d == 0
|
|
assert gps.satellites == 8
|
|
assert gps.horizontal_dilution == 0.9
|
|
assert gps.altitude_m == 545.4
|
|
assert gps.height_geoid == 46.9
|
|
assert gps.has_fix is True
|
|
assert gps.has_3d_fix is False
|
|
assert gps.datetime == exp_time
|
|
assert (
|
|
gps._raw_sentence
|
|
== "$GPGGA,123519,4807.038,N,01131.000,E,1,08,0.9,545.4,M,46.9,M,,*47"
|
|
)
|
|
assert (
|
|
gps.nmea_sentence
|
|
== "$GPGGA,123519,4807.038,N,01131.000,E,1,08,0.9,545.4,M,46.9,M,,*47"
|
|
)
|
|
|
|
|
|
@pytest.mark.parametrize(
|
|
"r",
|
|
(
|
|
pytest.param(
|
|
b"$GPGSA,A,3,15,18,14,,,31,,,23,,,,04.5,02.1,04.0*0f\r\n", id="smaller v4.1"
|
|
),
|
|
pytest.param(
|
|
b"$GPGSA,A,3,15,18,14,,,31,,,23,,,,04.5,02.1,04.0,3*10\r\n",
|
|
id="greater v4.1",
|
|
),
|
|
),
|
|
)
|
|
def test_GPS_update_from_GSA(r):
|
|
with mock.patch.object(GPS, "readline", return_value=r):
|
|
gps = GPS(uart=UartMock())
|
|
assert gps.update()
|
|
assert gps.sel_mode == "A"
|
|
assert gps.fix_quality_3d == 3
|
|
# assert gps.has_fix is True # TODO: shouldn't this be True?
|
|
assert gps.has_3d_fix is True
|
|
assert gps.sat_prns == ["GP15", "GP18", "GP14", "GP31", "GP23"]
|
|
assert gps.pdop == 4.5
|
|
assert gps.hdop == 2.1
|
|
assert gps.vdop == 4.0
|
|
|
|
|
|
def test_GPS_update_from_GSV_first_part():
|
|
r = b"$GPGSV,2,1,08,01,40,083,46,02,17,308,41,12,07,344,39,14,22,228,45*75\r\n"
|
|
with mock.patch.object(GPS, "readline", return_value=r):
|
|
gps = GPS(uart=UartMock())
|
|
assert gps.update()
|
|
assert gps.total_mess_num == 2
|
|
assert gps.mess_num == 1
|
|
assert gps.satellites == 8
|
|
# check two satellites, without timestamp, since it is dynamic
|
|
sats = gps._sats
|
|
assert sats[0][:-1] == ("GP1", 40, 83, 46)
|
|
assert sats[-1][:-1] == ("GP14", 22, 228, 45)
|
|
|
|
# check at least that timestamp is there
|
|
assert isinstance(sats[0][4], float)
|
|
assert isinstance(sats[-1][4], float)
|
|
assert (
|
|
gps._raw_sentence
|
|
== "$GPGSV,2,1,08,01,40,083,46,02,17,308,41,12,07,344,39,14,22,228,45*75"
|
|
)
|
|
assert (
|
|
gps.nmea_sentence
|
|
== "$GPGSV,2,1,08,01,40,083,46,02,17,308,41,12,07,344,39,14,22,228,45*75"
|
|
)
|
|
|
|
|
|
def test_GPS_update_from_GSV_both_parts_sats_are_removed():
|
|
gps = GPS(uart=UartMock())
|
|
with mock.patch.object(GPS, "readline") as m:
|
|
with freeze_time("2021-10-20 19:00:00"):
|
|
# first part of the request
|
|
m.return_value = b"$GPGSV,2,1,04,01,40,083,46,02,17,308,41*78\r\n"
|
|
assert gps.update()
|
|
assert gps.total_mess_num == 2
|
|
assert gps.mess_num == 1
|
|
assert gps.satellites == 4
|
|
# first time we received satellites, so this must be None
|
|
assert gps.sats is None
|
|
# some time has passed so the first two satellites will be too old, but
|
|
# this one not
|
|
with freeze_time("2021-10-20 19:00:20"):
|
|
# second part of the request
|
|
m.return_value = b"$GPGSV,2,2,04,12,07,344,39,14,22,228,45*7c\r\n"
|
|
assert gps.update()
|
|
assert gps.total_mess_num == 2
|
|
assert gps.mess_num == 2
|
|
assert gps.satellites == 4
|
|
# we should now have 4 satellites from the two part request
|
|
assert set(gps.sats.keys()) == {"GP1", "GP2", "GP12", "GP14"}
|
|
|
|
# time passed (more than 30 seconds) and the next request does not
|
|
# contain the previously seen satellites but two new ones
|
|
with freeze_time("2021-10-20 19:00:31"):
|
|
# a third, one part request
|
|
m.return_value = b"$GPGSV,1,1,02,13,07,344,39,15,22,228,45*7a\r\n"
|
|
assert gps.update()
|
|
assert gps.satellites == 2
|
|
assert set(gps.sats.keys()) == {"GP12", "GP14", "GP13", "GP15"}
|