/
fastpacket_test.go
369 lines (343 loc) · 11.7 KB
/
fastpacket_test.go
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package nmea
import (
test_test "github.com/aldas/go-nmea-client/test"
"github.com/stretchr/testify/assert"
"testing"
"time"
)
// Example fast-packet
// PGN: 1FD13 - Meteorological Station Data
// candump output:
//
// Canboat analyzer output:
//
// {
// "timestamp": "2023-03-17T00:05:10.046",
// "prio": 6,
// "src": 35,
// "dst": 255,
// "pgn": 130323,
// "description": "Meteorological Station Data",
// "fields": {
// "Mode": 0,
// "Measurement Date": "2022.09.13",
// "Measurement Time": "08:23:36.5000",
// "Station Latitude": 58.2156683,
// "Station Longitude": 22.39509,
// "Wind Speed": 1.64,
// "Wind Direction": 293.3,
// "Wind Reference": "Apparent",
// "Atmospheric Pressure": 1.008,
// "Ambient Temperature": 12.5
// }
// }
//
//00:05:10.032 R 19FD1323 60 1E F0 30 4B 08 AC 02
//00:05:10.038 R 19FD1323 61 12 8B 01 B3 22 34 38
//00:05:10.041 R 19FD1323 62 59 0D A4 00 F5 C7 FA
//00:05:10.041 R 19FD1323 63 FF FF F0 03 95 6F 02
//00:05:10.046 R 19FD1323 64 01 02 01 FF FF FF FF
func exampleFPS() fastPacketSequence {
return fastPacketSequence{
header: CanBusHeader{PGN: 130323, Priority: 6, Source: 35, Destination: 255},
lastReceivedFrameTime: test_test.UTCTime(1665488842),
receivedFramesCount: 5,
sequence: 6,
length: 30, // 0x1E, 5 frames, 6,7,7,7,3
completeFramesMask: 0b11111,
receivedFramesMask: 0b11111,
data: [223]byte{
0xF0, 0x30, 0x4B, 0x08, 0xAC, 0x02, // 00:05:10.032 R 19FD1323 60 1E F0 30 4B 08 AC 02
0x12, 0x8B, 0x01, 0xB3, 0x22, 0x34, 0x38, //00:05:10.038 R 19FD1323 61 12 8B 01 B3 22 34 38
0x59, 0x0D, 0xA4, 0x00, 0xF5, 0xC7, 0xFA, //00:05:10.041 R 19FD1323 62 59 0D A4 00 F5 C7 FA
0xFF, 0xFF, 0xF0, 0x03, 0x95, 0x6F, 0x02, //00:05:10.041 R 19FD1323 63 FF FF F0 03 95 6F 02
0x01, 0x02, 0x01, 0xFF, 0xFF, 0xFF, 0xFF, //00:05:10.046 R 19FD1323 64 01 02 01 FF FF FF FF
},
}
}
func TestFastPacketMessage_Append(t *testing.T) {
now := test_test.UTCTime(1665488842) // Tue Oct 11 2022 11:47:22 GMT+0000
var testCases = []struct {
name string
given fastPacketSequence
when RawFrame
expect fastPacketSequence
expectDone bool
}{
{
name: "ok, append second frame, in order",
given: fastPacketSequence{
header: CanBusHeader{PGN: 130323, Priority: 6, Source: 35, Destination: 255},
lastReceivedFrameTime: now.Add(-50 * time.Millisecond),
receivedFramesCount: 1,
sequence: 6,
length: 30, // 0x1E, 5 frames, 6,7,7,7,3
completeFramesMask: 0b11111,
receivedFramesMask: 0b1,
data: [223]byte{
0xF0, 0x30, 0x4B, 0x08, 0xAC, 0x02, // 00:05:10.032 R 19FD1323 60 1E F0 30 4B 08 AC 02
},
},
when: RawFrame{
Time: now,
Header: CanBusHeader{PGN: 130323, Priority: 6, Source: 35, Destination: 255},
Length: 8,
Data: [8]byte{0x61, 0x12, 0x8B, 0x01, 0xB3, 0x22, 0x34, 0x38},
},
expectDone: false,
expect: fastPacketSequence{
header: CanBusHeader{PGN: 130323, Priority: 6, Source: 35, Destination: 255},
lastReceivedFrameTime: now,
receivedFramesCount: 2,
completeFramesMask: 0b11111,
sequence: 6,
length: 30, // 0x1E, 5 frames, 6,7,7,7,3
receivedFramesMask: 0b11,
data: [223]byte{
0xF0, 0x30, 0x4B, 0x08, 0xAC, 0x02, //00:05:10.032 R 19FD1323 60 1E F0 30 4B 08 AC 02
0x12, 0x8B, 0x01, 0xB3, 0x22, 0x34, 0x38, //00:05:10.038 R 19FD1323 61 12 8B 01 B3 22 34 38
},
},
},
{
name: "ok, append last frame, in order",
given: fastPacketSequence{
header: CanBusHeader{PGN: 130323, Priority: 6, Source: 35, Destination: 255},
lastReceivedFrameTime: now.Add(-50 * time.Millisecond),
receivedFramesCount: 4,
sequence: 6,
length: 30, // 0x1E, 5 frames, 6,7,7,7,3
completeFramesMask: 0b11111,
receivedFramesMask: 0b1111,
data: [223]byte{
0xF0, 0x30, 0x4B, 0x08, 0xAC, 0x02, // 00:05:10.032 R 19FD1323 60 1E F0 30 4B 08 AC 02
0x12, 0x8B, 0x01, 0xB3, 0x22, 0x34, 0x38, //00:05:10.038 R 19FD1323 61 12 8B 01 B3 22 34 38
0x59, 0x0D, 0xA4, 0x00, 0xF5, 0xC7, 0xFA, //00:05:10.041 R 19FD1323 62 59 0D A4 00 F5 C7 FA
0xFF, 0xFF, 0xF0, 0x03, 0x95, 0x6F, 0x02, //00:05:10.041 R 19FD1323 63 FF FF F0 03 95 6F 02
},
},
when: RawFrame{
Time: now,
Header: CanBusHeader{PGN: 130323, Priority: 6, Source: 35, Destination: 255},
Length: 8,
Data: [8]byte{0x64, 0x01, 0x02, 0x01, 0xFF, 0xFF, 0xFF, 0xFF}, //00:05:10.046 R 19FD1323 64 01 02 01 FF FF FF FF
},
expectDone: true,
expect: fastPacketSequence{
header: CanBusHeader{PGN: 130323, Priority: 6, Source: 35, Destination: 255},
lastReceivedFrameTime: now,
receivedFramesCount: 5,
sequence: 6,
length: 30, // 0x1E, 5 frames, 6,7,7,7,3
completeFramesMask: 0b11111,
receivedFramesMask: 0b11111,
data: [223]byte{
0xF0, 0x30, 0x4B, 0x08, 0xAC, 0x02, // 00:05:10.032 R 19FD1323 60 1E F0 30 4B 08 AC 02
0x12, 0x8B, 0x01, 0xB3, 0x22, 0x34, 0x38, //00:05:10.038 R 19FD1323 61 12 8B 01 B3 22 34 38
0x59, 0x0D, 0xA4, 0x00, 0xF5, 0xC7, 0xFA, //00:05:10.041 R 19FD1323 62 59 0D A4 00 F5 C7 FA
0xFF, 0xFF, 0xF0, 0x03, 0x95, 0x6F, 0x02, //00:05:10.041 R 19FD1323 63 FF FF F0 03 95 6F 02
0x01, 0x02, 0x01, 0xFF, 0xFF, 0xFF, 0xFF, //00:05:10.046 R 19FD1323 64 01 02 01 FF FF FF FF
},
},
},
}
for _, tc := range testCases {
t.Run(tc.name, func(t *testing.T) {
fpm := tc.given
done := fpm.Append(tc.when)
assert.Equal(t, tc.expectDone, done)
assert.Equal(t, tc.expect, fpm)
})
}
}
func TestFastPacketSequence_To(t *testing.T) {
fp := exampleFPS()
msg := RawMessage{} // allocates data
fp.To(&msg)
expected := RawMessage{
Time: test_test.UTCTime(1665488842),
Header: CanBusHeader{PGN: 130323, Priority: 6, Source: 35, Destination: 255},
Data: []byte{
0xF0, 0x30, 0x4B, 0x08, 0xAC, 0x02,
0x12, 0x8B, 0x01, 0xB3, 0x22, 0x34, 0x38,
0x59, 0x0D, 0xA4, 0x00, 0xF5, 0xC7, 0xFA,
0xFF, 0xFF, 0xF0, 0x03, 0x95, 0x6F, 0x02,
0x01, 0x02, 0x01,
},
}
assert.Equal(t, expected, msg)
}
func TestFastPacketSequence_As(t *testing.T) {
fp := exampleFPS()
msg := fp.As()
expected := RawMessage{
Time: test_test.UTCTime(1665488842),
Header: CanBusHeader{PGN: 130323, Priority: 6, Source: 35, Destination: 255},
Data: []byte{
0xF0, 0x30, 0x4B, 0x08, 0xAC, 0x02,
0x12, 0x8B, 0x01, 0xB3, 0x22, 0x34, 0x38,
0x59, 0x0D, 0xA4, 0x00, 0xF5, 0xC7, 0xFA,
0xFF, 0xFF, 0xF0, 0x03, 0x95, 0x6F, 0x02,
0x01, 0x02, 0x01,
},
}
assert.Equal(t, expected, msg)
}
func TestFastPacketSequence_Reset(t *testing.T) {
fp := exampleFPS()
fp.Reset()
expected := fastPacketSequence{
data: [223]byte{
0xF0, 0x30, 0x4B, 0x08, 0xAC, 0x02, // 00:05:10.032 R 19FD1323 60 1E F0 30 4B 08 AC 02
0x12, 0x8B, 0x01, 0xB3, 0x22, 0x34, 0x38, //00:05:10.038 R 19FD1323 61 12 8B 01 B3 22 34 38
0x59, 0x0D, 0xA4, 0x00, 0xF5, 0xC7, 0xFA, //00:05:10.041 R 19FD1323 62 59 0D A4 00 F5 C7 FA
0xFF, 0xFF, 0xF0, 0x03, 0x95, 0x6F, 0x02, //00:05:10.041 R 19FD1323 63 FF FF F0 03 95 6F 02
0x01, 0x02, 0x01, 0xFF, 0xFF, 0xFF, 0xFF, //00:05:10.046 R 19FD1323 64 01 02 01 FF FF FF FF
},
}
assert.Equal(t, expected, fp)
}
func TestFastPacketAssembler_Assemble(t *testing.T) {
now := test_test.UTCTime(1665488842)
var testCases = []struct {
name string
whenFrames []RawFrame
expectComplete bool
expectMessage RawMessage
}{
{
name: "ok, 130323 fast-packet",
whenFrames: []RawFrame{
{
Time: now.Add(-4 * 50 * time.Millisecond),
Header: CanBusHeader{PGN: 130323, Priority: 6, Source: 35, Destination: 255},
Length: 8,
Data: [8]byte{0x60, 0x1E, 0xF0, 0x30, 0x4B, 0x08, 0xAC, 0x02}, // +6
},
{
Time: now.Add(-3 * 50 * time.Millisecond),
Header: CanBusHeader{PGN: 130323, Priority: 6, Source: 35, Destination: 255},
Length: 8,
Data: [8]byte{0x61, 0x12, 0x8B, 0x01, 0xB3, 0x22, 0x34, 0x38}, // +7 = 13
},
{
Time: now.Add(-2 * 50 * time.Millisecond),
Header: CanBusHeader{PGN: 130323, Priority: 6, Source: 35, Destination: 255},
Length: 8,
Data: [8]byte{0x62, 0x59, 0x0D, 0xA4, 0x00, 0xF5, 0xC7, 0xFA}, // +7 = 20
},
{
Time: now.Add(-1 * 50 * time.Millisecond),
Header: CanBusHeader{PGN: 130323, Priority: 6, Source: 35, Destination: 255},
Length: 8,
Data: [8]byte{0x63, 0xFF, 0xFF, 0xF0, 0x03, 0x95, 0x6F, 0x02}, // +7 = 27
},
{
Time: now,
Header: CanBusHeader{PGN: 130323, Priority: 6, Source: 35, Destination: 255},
Length: 8,
Data: [8]byte{0x64, 0x01, 0x02, 0x01, 0xFF, 0xFF, 0xFF, 0xFF}, // +3 = 30
},
},
expectComplete: true,
expectMessage: RawMessage{
Time: now,
Header: CanBusHeader{PGN: 130323, Priority: 6, Source: 35, Destination: 255},
Data: []byte{
0xF0, 0x30, 0x4B, 0x08, 0xAC, 0x02, // 00:05:10.032 R 19FD1323 60 1E F0 30 4B 08 AC 02
0x12, 0x8B, 0x01, 0xB3, 0x22, 0x34, 0x38, //00:05:10.038 R 19FD1323 61 12 8B 01 B3 22 34 38
0x59, 0x0D, 0xA4, 0x00, 0xF5, 0xC7, 0xFA, //00:05:10.041 R 19FD1323 62 59 0D A4 00 F5 C7 FA
0xFF, 0xFF, 0xF0, 0x03, 0x95, 0x6F, 0x02, //00:05:10.041 R 19FD1323 63 FF FF F0 03 95 6F 02
0x01, 0x02, 0x01, //00:05:10.046 R 19FD1323 64 01 02 01 FF FF FF FF
},
},
},
{
name: "ok, single packet",
whenFrames: []RawFrame{
{
Time: now,
Header: CanBusHeader{PGN: uint32(PGNISORequest), Priority: 6, Source: AddressNull, Destination: 32},
Length: 3,
Data: [8]byte{0x0, 0xEE, 0x0},
},
},
expectComplete: true,
expectMessage: RawMessage{
Time: now,
Header: CanBusHeader{PGN: uint32(PGNISORequest), Priority: 6, Source: AddressNull, Destination: 32},
Data: []byte{
0x0, 0xEE, 0x0,
},
},
},
}
for _, tc := range testCases {
t.Run(tc.name, func(t *testing.T) {
fpa := NewFastPacketAssembler([]uint32{126983, 61184, 130323})
fpa.now = func() time.Time {
return now
}
complete := false
var msg RawMessage
for _, f := range tc.whenFrames {
complete = fpa.Assemble(f, &msg)
}
assert.Equal(t, tc.expectComplete, complete)
assert.Equal(t, tc.expectMessage, msg)
})
}
}
func TestAssembleMaxSizeFastPacket(t *testing.T) {
now := test_test.UTCTime(1665488842)
fpa := NewFastPacketAssembler([]uint32{130323})
fpa.now = func() time.Time {
return now
}
var msg RawMessage
first := RawFrame{
Time: now.Add(-4 * 50 * time.Millisecond),
Header: CanBusHeader{PGN: 130323, Priority: 6, Source: 35, Destination: 255},
Length: 8,
Data: [8]byte{0x60, FastRawPacketMaxSize, 0x0, 0x1, 0x2, 0x3, 0x4, 0x5},
}
assert.False(t, fpa.Assemble(first, &msg))
frameNR := uint8(1)
for i := 7; i < FastRawPacketMaxSize; {
size := 7
isLast := false
if i+size > FastRawPacketMaxSize {
size -= i + size - FastRawPacketMaxSize
isLast = true
}
startIdx := 6 + (frameNR-1)*7
f := RawFrame{
Time: now.Add(time.Duration(frameNR) * 40 * time.Millisecond),
Header: CanBusHeader{PGN: 130323, Priority: 6, Source: 35, Destination: 255},
Length: uint8(size + 1),
Data: [8]byte{
uint8(0b01100000) + frameNR,
0x0 + startIdx,
0x1 + startIdx,
0x2 + startIdx,
0x3 + startIdx,
0x4 + startIdx,
0x5 + startIdx,
0x6 + startIdx,
},
}
result := fpa.Assemble(f, &msg)
assert.Equal(t, isLast, result)
i += size
frameNR++
}
expected := RawMessage{
Time: now.Add(time.Duration(31) * 40 * time.Millisecond),
Header: CanBusHeader{PGN: 130323, Priority: 6, Source: 35, Destination: 255},
Data: make(RawData, FastRawPacketMaxSize),
}
for i := 0; i < FastRawPacketMaxSize; i++ {
expected.Data[i] = uint8(i)
}
assert.Equal(t, expected, msg)
}