Add test for Unicore parser

Signed-off-by: Julian Oes <[email protected]>

Author: julianoes

.gitignore

@@ -0,0 +1 @@
+build

CMakeLists.txt

@@ -0,0 +1,25 @@
+cmake_minimum_required(VERSION 3.16)
+
+project(gps-parser-test CXX)
+
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
+add_executable(gps-parser-test
+    gps-parser-test.cpp
+    src/unicore.cpp
+    src/crc.cpp
+)
+
+target_compile_options(gps-parser-test
+    PRIVATE
+    -Wall
+    -Wextra
+    -Wconversion
+    -Wpedantic
+)
+
+target_include_directories(gps-parser-test
+    PRIVATE
+    src/
+)

README.md

@@ -11,3 +11,13 @@ All platform-specific stuff is done via a callback function and a
 
 In order for the project to build, `definitions.h` must include definitions for `sensor_gnss_relative_s`, `sensor_gps_s` and `satellite_info_s`.
 For example, check the implementation in [PX4 Autopilot](https://github.com/PX4/PX4-Autopilot/blob/master/src/drivers/gps/definitions.h) or [QGroundControl](https://github.com/mavlink/qgroundcontrol/blob/master/src/GPS/definitions.h). 
+
+
+## Parser tests
+
+To test parsers, build and run the cmake project:
+
+```
+cmake -Bbuild -H.
+cmake --build build && build/gps-parser-test
+```

gps-parser-test.cpp

@@ -0,0 +1,108 @@
+#include "unicore.h"
+#include <cassert>
+#include <cstdio>
+
+void test_empty()
+{
+	const char str[] = " ";
+
+	UnicoreParser unicore_parser;
+
+	for (unsigned i = 0; i < sizeof(str); ++i) {
+		auto result = unicore_parser.parseChar(str[i]);
+		assert(result == UnicoreParser::Result::None);
+	}
+}
+
+void test_garbage()
+{
+	const char str[] = "#GARBAGE,BLA";
+
+	UnicoreParser unicore_parser;
+
+	for (unsigned i = 0; i < sizeof(str); ++i) {
+		auto result = unicore_parser.parseChar(str[i]);
+		assert(result == UnicoreParser::Result::None);
+	}
+}
+
+void test_too_long()
+{
+	const char str[] =
+		"#UNIHEADINGA,89,GPS,FINE,2251,168052600,0,0,18,11;SOL_COMPUTED,"
+		"NARROW_INT,0.3718,67.0255,-0.7974,0.0000,0.8065,3.3818,\"999\","
+		"31,21,21,18,3,01,3,f3,1234567890,1234567890,1234567890,1234567890,"
+		"1234567890,1234567890,1234567890,1234567890,1234567890,1234567890,"
+		"1234567890,1234567890,1234567890,1234567890,1234567890,1234567890,"
+		"1234567890,1234567890,1234567890,1234567890,1234567890,1234567890,"
+		"1234567890,1234567890,1234567890,1234567890,1234567890,1234567890,"
+		"1234567890,1234567890,1234567890,1234567890,1234567890,1234567890,"
+		"1234567890,1234567890,1234567890,1234567890,1234567890,1234567890,"
+		"1234567890,1234567890,1234567890,1234567890,1234567890,1234567890,"
+		"1234567890,1234567890,1234567890,1234567890,1234567890,1234567890,"
+		"1234567890,ffffffff";
+
+	UnicoreParser unicore_parser;
+
+	for (unsigned i = 0; i < sizeof(str); ++i) {
+		auto result = unicore_parser.parseChar(str[i]);
+		assert(result == UnicoreParser::Result::None);
+	}
+}
+
+void test_uniheadinga_wrong_crc()
+{
+	const char str[] =
+		"#UNIHEADINGA,89,GPS,FINE,2251,168052600,0,0,18,11;SOL_COMPUTED,NARROW_INT,"
+		"0.3718,67.0255,-0.7974,0.0000,0.8065,3.3818,\"999\",31,21,21,18,3,01,3,f3*"
+		"ffffffff";
+
+	UnicoreParser unicore_parser;
+
+	for (unsigned i = 0; i < sizeof(str); ++i) {
+		auto result = unicore_parser.parseChar(str[i]);
+
+		if (result == UnicoreParser::Result::WrongCrc) {
+			return;
+		}
+	}
+
+	assert(false);
+}
+
+
+void test_uniheadinga()
+{
+	const char str[] =
+		"#UNIHEADINGA,89,GPS,FINE,2251,168052600,0,0,18,11;SOL_COMPUTED,NARROW_INT,0.3718,67.0255,-0.7974,0.0000,0.8065,3.3818,\"999\",31,21,21,18,3,01,3,f3*ece5bb07";
+
+	UnicoreParser unicore_parser;
+
+	for (unsigned i = 0; i < sizeof(str); ++i) {
+		auto result = unicore_parser.parseChar(str[i]);
+
+		if (result == UnicoreParser::Result::GotHeading) {
+			assert(unicore_parser.heading().heading_deg == 67.0255f);
+			assert(unicore_parser.heading().baseline_m == 0.3718f);
+			return;
+		}
+	}
+
+	assert(false);
+}
+
+void test_unicore()
+{
+	test_empty();
+	test_garbage();
+	test_too_long();
+	test_uniheadinga_wrong_crc();
+	test_uniheadinga();
+}
+
+int main(int, char **)
+{
+	test_unicore();
+
+	return 0;
+}