test/src/TestDriver.cpp

   1 /* Copyright_License {
   2
   3   XCSoar Glide Computer - http://www.xcsoar.org/
   4   Copyright (C) 2000-2013 The XCSoar Project
   5   A detailed list of copyright holders can be found in the file "AUTHORS".
   6
   7   This program is free software; you can redistribute it and/or
   8   modify it under the terms of the GNU General Public License
   9   as published by the Free Software Foundation; either version 2
  10   of the License, or (at your option) any later version.
  11
  12   This program is distributed in the hope that it will be useful,
  13   but WITHOUT ANY WARRANTY; without even the implied warranty of
  14   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  15   GNU General Public License for more details.
  16
  17   You should have received a copy of the GNU General Public License
  18   along with this program; if not, write to the Free Software
  19   Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.
  20 }
  21 */
  22
  23 #include "Device/Driver/Generic.hpp"
  24 #include "Device/Driver/AltairPro.hpp"
  25 #include "Device/Driver/BlueFlyVario.hpp"
  26 #include "Device/Driver/BorgeltB50.hpp"
  27 #include "Device/Driver/CAI302.hpp"
  28 #include "Device/Driver/Condor.hpp"
  29 #include "Device/Driver/CProbe.hpp"
  30 #include "Device/Driver/EW.hpp"
  31 #include "Device/Driver/EWMicroRecorder.hpp"
  32 #include "Device/Driver/Eye.hpp"
  33 #include "Device/Driver/FLARM.hpp"
  34 #include "Device/Driver/FlymasterF1.hpp"
  35 #include "Device/Driver/FlyNet.hpp"
  36 #include "Device/Driver/Flytec.hpp"
  37 #include "Device/Driver/GTAltimeter.hpp"
  38 #include "Device/Driver/LevilAHRS_G.hpp"
  39 #include "Device/Driver/Leonardo.hpp"
  40 #include "Device/Driver/LX.hpp"
  41 #include "Device/Driver/LX/Internal.hpp"
  42 #include "Device/Driver/ILEC.hpp"
  43 #include "Device/Driver/IMI.hpp"
  44 #include "Device/Driver/PosiGraph.hpp"
  45 #include "Device/Driver/Vega.hpp"
  46 #include "Device/Driver/Volkslogger.hpp"
  47 #include "Device/Driver/Westerboer.hpp"
  48 #include "Device/Driver/Zander.hpp"
  49 #include "Device/Driver.hpp"
  50 #include "Device/Parser.hpp"
  51 #include "Device/device.hpp"
  52 #include "Device/Port/NullPort.hpp"
  53 #include "Device/Declaration.hpp"
  54 #include "Logger/Settings.hpp"
  55 #include "Plane/Plane.hpp"
  56 #include "NMEA/Info.hpp"
  57 #include "Protection.hpp"
  58 #include "Input/InputEvents.hpp"
  59 #include "Engine/Waypoint/Waypoint.hpp"
  60 #include "Operation/Operation.hpp"
  61 #include "FaultInjectionPort.hpp"
  62 #include "TestUtil.hpp"
  63 #include "Profile/DeviceConfig.hpp"
  64 #include "Units/System.hpp"
  65
  66 static const DeviceConfig dummy_config = DeviceConfig();
  67
  68 /*
  69  * Unit tests
  70  */
  71
  72 static void
  73 TestGeneric()
  74 {
  75   NMEAParser parser;
  76
  77   NMEAInfo nmea_info;
  78   nmea_info.Reset();
  79   nmea_info.clock = fixed(1);
  80   nmea_info.alive.Update(nmea_info.clock);
  81
  82   /* no GPS reception */
  83   ok1(parser.ParseLine("$GPRMC,082310,V,,,,,230610*3f",
  84                                       nmea_info));
  85   ok1(nmea_info.alive);
  86   ok1(!nmea_info.location_available);
  87   ok1(nmea_info.date_time_utc.year == 2010);
  88   ok1(nmea_info.date_time_utc.month == 6);
  89   ok1(nmea_info.date_time_utc.day == 23);
  90   ok1(nmea_info.date_time_utc.hour == 8);
  91   ok1(nmea_info.date_time_utc.minute == 23);
  92   ok1(nmea_info.date_time_utc.second == 10);
  93
  94   /* got a GPS fix */
  95   ok1(parser.ParseLine("$GPRMC,082311,A,5103.5403,N,00741.5742,E,055.3,022.4,230610,000.3,W*6C",
  96                                       nmea_info));
  97   ok1(nmea_info.alive);
  98   ok1(nmea_info.location_available);
  99   ok1(nmea_info.date_time_utc.hour == 8);
 100   ok1(nmea_info.date_time_utc.minute == 23);
 101   ok1(nmea_info.date_time_utc.second == 11);
 102   ok1(equals(nmea_info.location.longitude, 7.693));
 103   ok1(equals(nmea_info.location.latitude, 51.059));
 104   ok1(!nmea_info.baro_altitude_available);
 105
 106   /* baro altitude (proprietary Garmin sentence) */
 107   ok1(parser.ParseLine("$PGRMZ,100,m,3*11", nmea_info));
 108   ok1(nmea_info.baro_altitude_available);
 109   ok1(equals(nmea_info.baro_altitude, 100));
 110 }
 111
 112 static void
 113 TestTasman()
 114 {
 115   NMEAParser parser;
 116
 117   NMEAInfo nmea_info;
 118   nmea_info.Reset();
 119   nmea_info.clock = fixed(1);
 120
 121   ok1(parser.ParseLine("$PTAS1,200,200,02426,000*25", nmea_info));
 122   ok1(nmea_info.total_energy_vario_available);
 123   ok1(equals(nmea_info.total_energy_vario, fixed(0)));
 124   ok1(nmea_info.pressure_altitude_available);
 125   ok1(equals(nmea_info.pressure_altitude, Units::ToSysUnit(fixed(426), Unit::FEET)));
 126   ok1(nmea_info.airspeed_available);
 127   ok1(equals(nmea_info.true_airspeed, fixed(0)));
 128
 129   ok1(parser.ParseLine("$PTAS1,234,000,00426,062*26", nmea_info));
 130   ok1(nmea_info.total_energy_vario_available);
 131   ok1(equals(nmea_info.total_energy_vario, Units::ToSysUnit(fixed(3.4), Unit::KNOTS)));
 132   ok1(nmea_info.pressure_altitude_available);
 133   ok1(equals(nmea_info.pressure_altitude, Units::ToSysUnit(fixed(-1574), Unit::FEET)));
 134   ok1(nmea_info.airspeed_available);
 135   ok1(equals(nmea_info.true_airspeed, Units::ToSysUnit(fixed(62), Unit::KNOTS)));
 136 }
 137
 138 static void
 139 TestFLARM()
 140 {
 141   NMEAParser parser;
 142
 143   NMEAInfo nmea_info;
 144   nmea_info.Reset();
 145   nmea_info.clock = fixed(1);
 146
 147   ok1(parser.ParseLine("$PFLAU,3,1,1,1,0*50",
 148                                       nmea_info));
 149   ok1(nmea_info.flarm.status.rx == 3);
 150   ok1(nmea_info.flarm.status.tx);
 151   ok1(nmea_info.flarm.status.gps == FlarmStatus::GPSStatus::GPS_2D);
 152   ok1(nmea_info.flarm.status.alarm_level == FlarmTraffic::AlarmType::NONE);
 153   ok1(nmea_info.flarm.traffic.GetActiveTrafficCount() == 0);
 154   ok1(!nmea_info.flarm.traffic.new_traffic);
 155
 156   ok1(parser.ParseLine("$PFLAA,0,100,-150,10,2,DDA85C,123,13,24,1.4,2*7f",
 157                                       nmea_info));
 158   ok1(nmea_info.flarm.traffic.new_traffic);
 159   ok1(nmea_info.flarm.traffic.GetActiveTrafficCount() == 1);
 160
 161   FlarmId id = FlarmId::Parse("DDA85C", NULL);
 162
 163   FlarmTraffic *traffic = nmea_info.flarm.traffic.FindTraffic(id);
 164   if (ok1(traffic != NULL)) {
 165     ok1(traffic->valid);
 166     ok1(traffic->alarm_level == FlarmTraffic::AlarmType::NONE);
 167     ok1(equals(traffic->relative_north, 100));
 168     ok1(equals(traffic->relative_east, -150));
 169     ok1(equals(traffic->relative_altitude, 10));
 170     ok1(equals(traffic->track, 123));
 171     ok1(traffic->track_received);
 172     ok1(equals(traffic->turn_rate, 13));
 173     ok1(traffic->turn_rate_received);
 174     ok1(equals(traffic->speed, 24));
 175     ok1(traffic->speed_received);
 176     ok1(equals(traffic->climb_rate, 1.4));
 177     ok1(traffic->climb_rate_received);
 178     ok1(traffic->type == FlarmTraffic::AircraftType::TOW_PLANE);
 179     ok1(!traffic->stealth);
 180   } else {
 181     skip(16, 0, "traffic == NULL");
 182   }
 183
 184   ok1(parser.ParseLine("$PFLAA,2,20,10,24,2,DEADFF,,,,,1*46",
 185                                       nmea_info));
 186   ok1(nmea_info.flarm.traffic.GetActiveTrafficCount() == 2);
 187
 188   id = FlarmId::Parse("DEADFF", NULL);
 189   traffic = nmea_info.flarm.traffic.FindTraffic(id);
 190   if (ok1(traffic != NULL)) {
 191     ok1(traffic->valid);
 192     ok1(traffic->alarm_level == FlarmTraffic::AlarmType::IMPORTANT);
 193     ok1(equals(traffic->relative_north, 20));
 194     ok1(equals(traffic->relative_east, 10));
 195     ok1(equals(traffic->relative_altitude, 24));
 196     ok1(!traffic->track_received);
 197     ok1(!traffic->turn_rate_received);
 198     ok1(!traffic->speed_received);
 199     ok1(!traffic->climb_rate_received);
 200     ok1(traffic->type == FlarmTraffic::AircraftType::GLIDER);
 201     ok1(traffic->stealth);
 202   } else {
 203     skip(12, 0, "traffic == NULL");
 204   }
 205
 206   ok1(parser.ParseLine("$PFLAA,0,1206,574,21,2,DDAED5,196,,32,1.0,1*10",
 207                        nmea_info));
 208   ok1(nmea_info.flarm.traffic.GetActiveTrafficCount() == 3);
 209
 210   id = FlarmId::Parse("DDAED5", NULL);
 211   traffic = nmea_info.flarm.traffic.FindTraffic(id);
 212   if (ok1(traffic != NULL)) {
 213     ok1(traffic->valid);
 214     ok1(traffic->alarm_level == FlarmTraffic::AlarmType::NONE);
 215     ok1(equals(traffic->relative_north, 1206));
 216     ok1(equals(traffic->relative_east, 574));
 217     ok1(equals(traffic->relative_altitude, 21));
 218     ok1(equals(traffic->track, 196));
 219     ok1(traffic->track_received);
 220     ok1(!traffic->turn_rate_received);
 221     ok1(equals(traffic->speed, 32));
 222     ok1(traffic->speed_received);
 223     ok1(equals(traffic->climb_rate, 1.0));
 224     ok1(traffic->climb_rate_received);
 225     ok1(traffic->type == FlarmTraffic::AircraftType::GLIDER);
 226     ok1(!traffic->stealth);
 227   } else {
 228     skip(15, 0, "traffic == NULL");
 229   }
 230 }
 231
 232 static void
 233 TestAltairRU()
 234 {
 235   NullPort null;
 236   Device *device = altair_pro_driver.CreateOnPort(dummy_config, null);
 237   ok1(device != NULL);
 238
 239   NMEAInfo nmea_info;
 240   nmea_info.Reset();
 241   nmea_info.clock = fixed(1);
 242
 243   ok1(device->ParseNMEA("$PTFRS,1,0,0,0,0,0,0,0,5,1,10,0,3,1338313437,0,0,0,,,2*4E",
 244                         nmea_info));
 245
 246   ok1(nmea_info.engine_noise_level_available);
 247   ok1(nmea_info.engine_noise_level == 5);
 248   ok1(!nmea_info.voltage_available);
 249
 250   nmea_info.Reset();
 251   nmea_info.clock = fixed(1);
 252
 253   ok1(device->ParseNMEA("$PTFRS,1,0,0,0,0,0,0,0,342,1,10,0,3,1338313438,0,0,12743,,,2*42",
 254                         nmea_info));
 255
 256   ok1(nmea_info.engine_noise_level_available);
 257   ok1(nmea_info.engine_noise_level == 342);
 258   ok1(nmea_info.voltage_available);
 259   ok1(equals(nmea_info.voltage, 12.743));
 260 }
 261
 262 static void
 263 TestGTAltimeter()
 264 {
 265   NullPort null;
 266   Device *device = gt_altimeter_driver.CreateOnPort(dummy_config, null);
 267   ok1(device != NULL);
 268
 269   NMEAInfo nmea_info;
 270   nmea_info.Reset();
 271   nmea_info.clock = fixed(1);
 272
 273   ok1(device->ParseNMEA("$LK8EX1,99545,149,1,26,5.10*18", nmea_info));
 274   ok1(nmea_info.static_pressure_available);
 275   ok1(equals(nmea_info.static_pressure.GetHectoPascal(), 995.45));
 276   ok1(!nmea_info.pressure_altitude_available);
 277   ok1(nmea_info.noncomp_vario_available);
 278   ok1(equals(nmea_info.noncomp_vario, 0.01));
 279   ok1(nmea_info.temperature_available);
 280   ok1(equals(nmea_info.temperature, 26));
 281   ok1(!nmea_info.battery_level_available);
 282   ok1(nmea_info.voltage_available);
 283   ok1(equals(nmea_info.voltage, 5.1));
 284
 285   nmea_info.Reset();
 286   nmea_info.clock = fixed(1);
 287
 288   ok1(device->ParseNMEA("$LK8EX1,999999,149,-123,,1076,*32", nmea_info));
 289   ok1(!nmea_info.static_pressure_available);
 290   ok1(nmea_info.pressure_altitude_available);
 291   ok1(equals(nmea_info.pressure_altitude, 149));
 292   ok1(nmea_info.noncomp_vario_available);
 293   ok1(equals(nmea_info.noncomp_vario, -1.23));
 294   ok1(!nmea_info.temperature_available);
 295   ok1(nmea_info.battery_level_available);
 296   ok1(equals(nmea_info.battery_level, 76));
 297   ok1(!nmea_info.voltage_available);
 298 }
 299
 300 static void
 301 TestBlueFly()
 302 {
 303   NullPort null;
 304   Device *device = bluefly_driver.CreateOnPort(dummy_config, null);
 305   ok1(device != NULL);
 306
 307   NMEAInfo nmea_info;
 308   nmea_info.Reset();
 309   nmea_info.clock = fixed(1);
 310
 311   // repeat input to get stable filter output
 312   ok1(device->ParseNMEA("PRS 00017CBA", nmea_info));
 313   ok1(device->ParseNMEA("PRS 00017CBA", nmea_info));
 314   ok1(device->ParseNMEA("PRS 00017CBA", nmea_info));
 315   ok1(device->ParseNMEA("PRS 00017CBA", nmea_info));
 316   ok1(device->ParseNMEA("PRS 00017CBA", nmea_info));
 317   ok1(device->ParseNMEA("PRS 00017CBA", nmea_info));
 318   ok1(nmea_info.static_pressure_available);
 319   ok1(equals(nmea_info.static_pressure.GetPascal(), 97466));
 320
 321   nmea_info.Reset();
 322   nmea_info.clock = fixed(1);
 323
 324   ok1(device->ParseNMEA("PRS 00017CCA", nmea_info));
 325   ok1(device->ParseNMEA("PRS 00017CCA", nmea_info));
 326   ok1(device->ParseNMEA("PRS 00017CCA", nmea_info));
 327   ok1(device->ParseNMEA("PRS 00017CCA", nmea_info));
 328   ok1(device->ParseNMEA("PRS 00017CCA", nmea_info));
 329   ok1(device->ParseNMEA("PRS 00017CCA", nmea_info));
 330   ok1(nmea_info.static_pressure_available);
 331   ok1(equals(nmea_info.static_pressure.GetPascal(), 97482));
 332
 333   ok1(device->ParseNMEA("BAT 1068", nmea_info)); //4.2V
 334   ok1(nmea_info.battery_level_available);
 335   ok1(equals(nmea_info.battery_level, 100.0));
 336   ok1(device->ParseNMEA("BAT EFE", nmea_info)); //3.84V
 337   ok1(nmea_info.battery_level_available);
 338   ok1(equals(nmea_info.battery_level, 50.0));
 339   ok1(device->ParseNMEA("BAT ED8", nmea_info)); //3.80V
 340   ok1(nmea_info.battery_level_available);
 341   ok1(equals(nmea_info.battery_level, 37.0));
 342
 343   delete device;
 344 }
 345
 346 static void
 347 TestBorgeltB50()
 348 {
 349   NullPort null;
 350   Device *device = b50_driver.CreateOnPort(dummy_config, null);
 351   ok1(device != NULL);
 352
 353   NMEAInfo nmea_info;
 354   nmea_info.Reset();
 355   nmea_info.clock = fixed(1);
 356
 357   ok1(device->ParseNMEA("$PBB50,042,-01.1,1.0,12345,10,1.3,1,-28*75", nmea_info));
 358   ok1(nmea_info.airspeed_available);
 359   ok1(equals(nmea_info.true_airspeed, 21.60666666666667));
 360   ok1(equals(nmea_info.indicated_airspeed, 57.15892189196558));
 361   ok1(nmea_info.total_energy_vario_available);
 362   ok1(equals(nmea_info.total_energy_vario, -0.5658888888888889));
 363   ok1(nmea_info.settings.mac_cready_available);
 364   ok1(equals(nmea_info.settings.mac_cready, 0.5144444444444444));
 365   ok1(nmea_info.settings.bugs_available);
 366   ok1(equals(nmea_info.settings.bugs, 0.9));
 367   ok1(nmea_info.settings.ballast_overload_available);
 368   ok1(equals(nmea_info.settings.ballast_overload, 1.3));
 369   ok1(nmea_info.switch_state.flight_mode == SwitchState::FlightMode::CIRCLING);
 370   ok1(nmea_info.temperature_available);
 371   ok1(equals(nmea_info.temperature, 245.15));
 372
 373   delete device;
 374 }
 375
 376 static void
 377 TestCAI302()
 378 {
 379   NullPort null;
 380   Device *device = cai302_driver.CreateOnPort(dummy_config, null);
 381   ok1(device != NULL);
 382
 383   NMEAInfo nmea_info;
 384   nmea_info.Reset();
 385   nmea_info.clock = fixed(1);
 386
 387   ok1(device->ParseNMEA("!w,000,000,0000,500,01287,01020,-0668,191,199,191,000,000,100*44",
 388                         nmea_info));
 389   ok1(nmea_info.airspeed_available);
 390   ok1(nmea_info.total_energy_vario_available);
 391   ok1(!nmea_info.engine_noise_level_available);
 392
 393   ok1(device->ParseNMEA("$PCAID,N,500,0,*14", nmea_info));
 394   ok1(nmea_info.engine_noise_level_available);
 395   ok1(nmea_info.engine_noise_level == 0);
 396
 397   /* pressure altitude enabled (PCAID) */
 398   ok1(device->ParseNMEA("$PCAID,N,500,0,*14", nmea_info));
 399   ok1(nmea_info.pressure_altitude_available);
 400   ok1(between(nmea_info.pressure_altitude, 499, 501));
 401
 402   /* ENL */
 403   ok1(device->ParseNMEA("$PCAID,N,500,100,*15", nmea_info));
 404   ok1(nmea_info.engine_noise_level_available);
 405   ok1(nmea_info.engine_noise_level == 100);
 406
 407   /* baro altitude enabled */
 408   ok1(device->ParseNMEA("!w,000,000,0000,500,01287,01020,-0668,191,199,191,000,000,100*44",
 409                         nmea_info));
 410   ok1(nmea_info.baro_altitude_available);
 411   ok1(equals(nmea_info.baro_altitude, 287));
 412   ok1(nmea_info.airspeed_available);
 413   ok1(equals(nmea_info.true_airspeed, -6.68));
 414   ok1(nmea_info.total_energy_vario_available);
 415   ok1(equals(nmea_info.total_energy_vario, -0.463));
 416
 417   /* PCAID should not override !w */
 418   ok1(device->ParseNMEA("$PCAID,N,500,0,*14", nmea_info));
 419   ok1(nmea_info.baro_altitude_available);
 420   ok1(equals(nmea_info.baro_altitude, 287));
 421
 422   /* MC, ballast, bugs */
 423   ok1(device->ParseNMEA("!w,0,0,0,0,0,0,0,0,0,0,10,50,90*56", nmea_info));
 424   ok1(nmea_info.settings.mac_cready_available);
 425   ok1(equals(nmea_info.settings.mac_cready, 0.5144444444444444));
 426   ok1(nmea_info.settings.ballast_fraction_available);
 427   ok1(equals(nmea_info.settings.ballast_fraction, 0.5));
 428   ok1(nmea_info.settings.bugs_available);
 429   ok1(equals(nmea_info.settings.bugs, 0.9));
 430
 431   delete device;
 432 }
 433
 434 static void
 435 TestCProbe()
 436 {
 437   NullPort null;
 438   Device *device = c_probe_driver.CreateOnPort(dummy_config, null);
 439   ok1(device != NULL);
 440
 441   NMEAInfo nmea_info;
 442   nmea_info.Reset();
 443   nmea_info.clock = fixed(1);
 444
 445   ok1(device->ParseNMEA("$PCPROBE,T,FD92,FF93,00D9,FD18,017E,FEDB,0370,0075,00D6,0064,001C,000000,,",
 446                         nmea_info));
 447   ok1(nmea_info.attitude.pitch_angle_available);
 448   ok1(equals(nmea_info.attitude.pitch_angle, 25.6034467702));
 449   ok1(nmea_info.attitude.bank_angle_available);
 450   ok1(equals(nmea_info.attitude.bank_angle, -11.9963939863));
 451   ok1(nmea_info.attitude.heading_available);
 452   ok1(equals(nmea_info.attitude.heading, 257.0554705429));
 453   ok1(nmea_info.acceleration.available);
 454   ok1(nmea_info.acceleration.real);
 455   ok1(equals(nmea_info.acceleration.g_load, 1.0030817514));
 456   ok1(nmea_info.temperature_available);
 457   ok1(equals(nmea_info.temperature,
 458              Units::ToSysUnit(fixed(11.7), Unit::DEGREES_CELCIUS)));
 459   ok1(nmea_info.humidity_available);
 460   ok1(equals(nmea_info.humidity, 21.4));
 461   ok1(nmea_info.battery_level_available);
 462   ok1(equals(nmea_info.battery_level, 100.0));
 463   ok1(nmea_info.dyn_pressure_available);
 464   ok1(equals(nmea_info.dyn_pressure.GetPascal(), 2.8));
 465
 466   delete device;
 467 }
 468
 469 static void
 470 TestEye()
 471 {
 472   NullPort null;
 473   std::unique_ptr<Device> device(eye_driver.CreateOnPort(dummy_config, null));
 474   ok1(device);
 475
 476   NMEAInfo nmea_info;
 477
 478
 479   nmea_info.Reset();
 480   nmea_info.clock = fixed(1);
 481
 482   ok1(device->ParseNMEA("$PEYA,1015.5,1020.5,3499,1012.3,265,12,176,+05.4,+15.2,095,1650,+05.1,+3.9*3a",
 483                         nmea_info));
 484   ok1(nmea_info.static_pressure_available);
 485   ok1(equals(nmea_info.static_pressure.GetHectoPascal(), 1015.5));
 486   ok1(nmea_info.pitot_pressure_available);
 487   ok1(equals(nmea_info.pitot_pressure.GetHectoPascal(), 1020.5));
 488   ok1(nmea_info.pressure_altitude_available);
 489   ok1(equals(nmea_info.pressure_altitude, 3499));
 490   ok1(nmea_info.settings.qnh_available);
 491   ok1(equals(nmea_info.settings.qnh.GetHectoPascal(), 1012.3));
 492   ok1(nmea_info.external_wind_available);
 493   ok1(equals(nmea_info.external_wind.bearing, 265));
 494   ok1(equals(nmea_info.external_wind.norm,
 495              Units::ToSysUnit(fixed(12), Unit::KILOMETER_PER_HOUR)));
 496   ok1(nmea_info.airspeed_available);
 497   ok1(nmea_info.airspeed_real);
 498   ok1(equals(nmea_info.true_airspeed,
 499              Units::ToSysUnit(fixed(176), Unit::KILOMETER_PER_HOUR)));
 500   ok1(nmea_info.noncomp_vario_available);
 501   ok1(equals(nmea_info.noncomp_vario, 5.4));
 502   ok1(nmea_info.temperature_available);
 503   ok1(equals(nmea_info.temperature,
 504              Units::ToSysUnit(fixed(15.2), Unit::DEGREES_CELCIUS)));
 505   ok1(nmea_info.humidity_available);
 506   ok1(equals(nmea_info.humidity, 95));
 507
 508
 509   nmea_info.Reset();
 510   nmea_info.clock = fixed(1);
 511
 512   ok1(device->ParseNMEA("$PEYI,+110,+020,+135,+130,+140,+0.12,+1.03,+9.81,+12,248,246,+02.3,*16",
 513                         nmea_info));
 514   ok1(nmea_info.attitude.bank_angle_available);
 515   ok1(equals(nmea_info.attitude.bank_angle, 110));
 516   ok1(nmea_info.attitude.pitch_angle_available);
 517   ok1(equals(nmea_info.attitude.pitch_angle, 20));
 518   ok1(nmea_info.attitude.heading_available);
 519   ok1(equals(nmea_info.attitude.heading, 248));
 520   ok1(nmea_info.acceleration.available);
 521   ok1(nmea_info.acceleration.real);
 522   ok1(equals(nmea_info.acceleration.g_load, 9.864654074));
 523 }
 524
 525 static void
 526 TestFlymasterF1()
 527 {
 528   NullPort null;
 529   Device *device = flymaster_f1_driver.CreateOnPort(dummy_config, null);
 530   ok1(device != NULL);
 531
 532   NMEAInfo nmea_info;
 533   nmea_info.Reset();
 534   nmea_info.clock = fixed(1);
 535
 536   ok1(device->ParseNMEA("$VARIO,999.98,-12,12.4,12.7,0,21.3,25.5*66",
 537                         nmea_info));
 538   ok1(!nmea_info.airspeed_available);
 539   ok1(nmea_info.total_energy_vario_available);
 540   ok1(equals(nmea_info.total_energy_vario, -1.2));
 541   ok1(!nmea_info.voltage_available);
 542   ok1(nmea_info.temperature_available);
 543   ok1(equals(nmea_info.temperature,
 544              Units::ToSysUnit(fixed(21.3), Unit::DEGREES_CELCIUS)));
 545   ok1(!nmea_info.baro_altitude_available);
 546   ok1(!nmea_info.pressure_altitude_available);
 547   ok1(nmea_info.static_pressure_available);
 548   ok1(equals(nmea_info.static_pressure.GetPascal(), 99998));
 549
 550   ok1(device->ParseNMEA("$VARIO,999.98,-12,12.4,12.7,1,21.3,25.5*67",
 551                         nmea_info));
 552   ok1(nmea_info.voltage_available);
 553   ok1(equals(nmea_info.voltage, 12.4));
 554
 555   ok1(device->ParseNMEA("$VARIO,999.98,-12,12.4,12.7,2,21.3,25.5*64",
 556                         nmea_info));
 557   ok1(nmea_info.voltage_available);
 558   ok1(equals(nmea_info.voltage, 12.7));
 559
 560   delete device;
 561 }
 562
 563 static void
 564 TestFlyNet()
 565 {
 566   NullPort null;
 567   Device *device = flynet_driver.CreateOnPort(dummy_config, null);
 568   ok1(device != NULL);
 569
 570   NMEAInfo nmea_info;
 571   nmea_info.Reset();
 572   nmea_info.clock = fixed(1);
 573
 574   ok1(device->ParseNMEA("_PRS 00017CBA", nmea_info));
 575   ok1(nmea_info.static_pressure_available);
 576   ok1(equals(nmea_info.static_pressure.GetPascal(), 97466));
 577
 578   nmea_info.Reset();
 579   nmea_info.clock = fixed(1);
 580
 581   ok1(device->ParseNMEA("_PRS 00018BCD", nmea_info));
 582   ok1(nmea_info.static_pressure_available);
 583   ok1(equals(nmea_info.static_pressure.GetPascal(), 101325));
 584
 585   nmea_info.Reset();
 586   nmea_info.clock = fixed(1);
 587
 588   ok1(device->ParseNMEA("_BAT 0", nmea_info));
 589   ok1(nmea_info.battery_level_available);
 590   ok1(equals(nmea_info.battery_level, 0));
 591
 592   nmea_info.Reset();
 593   nmea_info.clock = fixed(1);
 594
 595   ok1(device->ParseNMEA("_BAT 7", nmea_info));
 596   ok1(nmea_info.battery_level_available);
 597   ok1(equals(nmea_info.battery_level, 70));
 598
 599   nmea_info.Reset();
 600   nmea_info.clock = fixed(1);
 601
 602   ok1(device->ParseNMEA("_BAT A", nmea_info));
 603   ok1(nmea_info.battery_level_available);
 604   ok1(equals(nmea_info.battery_level, 100));
 605
 606   delete device;
 607 }
 608
 609 static void
 610 TestFlytec()
 611 {
 612   NullPort null;
 613   Device *device = flytec_driver.CreateOnPort(dummy_config, null);
 614   ok1(device != NULL);
 615
 616   NMEAInfo nmea_info;
 617   nmea_info.Reset();
 618   nmea_info.clock = fixed(1);
 619
 620   ok1(device->ParseNMEA("$BRSF,063,-013,-0035,1,193,00351,535,485*33",
 621                         nmea_info));
 622   ok1(nmea_info.airspeed_available);
 623   ok1(equals(nmea_info.true_airspeed, 17.5));
 624
 625   nmea_info.Reset();
 626   nmea_info.clock = fixed(1);
 627
 628   ok1(device->ParseNMEA("$VMVABD,1234.5,M,0547.0,M,-0.0,,,MS,63.0,KH,22.4,C*51",
 629                         nmea_info));
 630   ok1(nmea_info.gps_altitude_available);
 631   ok1(equals(nmea_info.gps_altitude, 1234.5));
 632   ok1(nmea_info.baro_altitude_available);
 633   ok1(equals(nmea_info.baro_altitude, 547.0));
 634   ok1(nmea_info.airspeed_available);
 635   ok1(equals(nmea_info.true_airspeed, 17.5));
 636   ok1(nmea_info.temperature_available);
 637   ok1(equals(nmea_info.temperature, 295.55));
 638
 639   nmea_info.Reset();
 640   nmea_info.clock = fixed(1);
 641
 642   ok1(device->ParseNMEA("$FLYSEN,,,,,,,,,V,,101450,02341,0334,02000,,,,,,,,,*72",
 643                         nmea_info));
 644   ok1(!nmea_info.date_available);
 645   ok1(!nmea_info.time_available);
 646   ok1(nmea_info.static_pressure_available);
 647   ok1(equals(nmea_info.static_pressure.GetPascal(), 101450));
 648   ok1(nmea_info.pressure_altitude_available);
 649   ok1(equals(nmea_info.pressure_altitude, 2341));
 650   ok1(nmea_info.total_energy_vario_available);
 651   ok1(equals(nmea_info.total_energy_vario, 3.34));
 652   ok1(nmea_info.airspeed_available);
 653   ok1(equals(nmea_info.true_airspeed, 200));
 654
 655   nmea_info.Reset();
 656   nmea_info.clock = fixed(1);
 657
 658   ok1(device->ParseNMEA("$FLYSEN,,,,,,,,,,V,,101450,02341,0334,02000,,,,,,,,,*5e",
 659                         nmea_info));
 660   ok1(!nmea_info.date_available);
 661   ok1(!nmea_info.time_available);
 662   ok1(nmea_info.static_pressure_available);
 663   ok1(equals(nmea_info.static_pressure.GetPascal(), 101450));
 664   ok1(nmea_info.pressure_altitude_available);
 665   ok1(equals(nmea_info.pressure_altitude, 2341));
 666   ok1(nmea_info.total_energy_vario_available);
 667   ok1(equals(nmea_info.total_energy_vario, 3.34));
 668   ok1(nmea_info.airspeed_available);
 669   ok1(equals(nmea_info.true_airspeed, 200));
 670   ok1(!nmea_info.battery_level_available);
 671   ok1(!nmea_info.temperature_available);
 672
 673   ok1(!device->ParseNMEA("$FLYSEN,,,,,,,,,,,,,,,,,,,,*5e", nmea_info));
 674
 675   nmea_info.Reset();
 676   nmea_info.clock = fixed(1);
 677
 678   ok1(device->ParseNMEA("$FLYSEN,241211,201500,4700.840,N,00818.457,E,092,"
 679                         "01100,01234,A,09,097517,01321,-001,01030,P,023,,038,"
 680                         "088,00090,00088,800,,*29", nmea_info));
 681   ok1(nmea_info.date_available);
 682   ok1(nmea_info.date_time_utc.day == 24);
 683   ok1(nmea_info.date_time_utc.month == 12);
 684   ok1(nmea_info.date_time_utc.year == 2011);
 685   ok1(nmea_info.time_available);
 686   ok1(nmea_info.date_time_utc.hour == 20);
 687   ok1(nmea_info.date_time_utc.minute == 15);
 688   ok1(nmea_info.date_time_utc.second == 00);
 689   ok1(nmea_info.location_available);
 690   ok1(equals(nmea_info.location, 47.014, 8.307616667));
 691   ok1(nmea_info.track_available);
 692   ok1(equals(nmea_info.track, 92));
 693   ok1(nmea_info.ground_speed_available);
 694   ok1(equals(nmea_info.ground_speed, 110));
 695   ok1(nmea_info.gps_altitude_available);
 696   ok1(equals(nmea_info.gps_altitude, 1234));
 697   ok1(nmea_info.gps.satellites_used_available);
 698   ok1(nmea_info.gps.satellites_used == 9);
 699   ok1(nmea_info.static_pressure_available);
 700   ok1(equals(nmea_info.static_pressure.GetPascal(), 97517));
 701   ok1(nmea_info.pressure_altitude_available);
 702   ok1(equals(nmea_info.pressure_altitude, 1321));
 703   ok1(nmea_info.total_energy_vario_available);
 704   ok1(equals(nmea_info.total_energy_vario, -0.01));
 705   ok1(nmea_info.airspeed_available);
 706   ok1(equals(nmea_info.true_airspeed, 103));
 707   ok1(nmea_info.battery_level_available);
 708   ok1(equals(nmea_info.battery_level, (88.0 + 38.0) / 2));
 709   ok1(nmea_info.temperature_available);
 710   ok1(equals(nmea_info.temperature, Units::ToSysUnit(fixed(23), Unit::DEGREES_CELCIUS)));
 711
 712   nmea_info.Reset();
 713   nmea_info.clock = fixed(1);
 714
 715   ok1(device->ParseNMEA("$FLYSEN,241211,201500,4700.840,N,00818.457,E,092,"
 716                         "01100,01234,V,09,097517,01321,-001,01030,P,023,017,038,"
 717                         ",00090,00088,800,,*38", nmea_info));
 718   ok1(nmea_info.date_available);
 719   ok1(nmea_info.date_time_utc.day == 24);
 720   ok1(nmea_info.date_time_utc.month == 12);
 721   ok1(nmea_info.date_time_utc.year == 2011);
 722   ok1(nmea_info.time_available);
 723   ok1(nmea_info.date_time_utc.hour == 20);
 724   ok1(nmea_info.date_time_utc.minute == 15);
 725   ok1(nmea_info.date_time_utc.second == 00);
 726   ok1(!nmea_info.location_available);
 727   ok1(!nmea_info.track_available);
 728   ok1(!nmea_info.ground_speed_available);
 729   ok1(!nmea_info.gps_altitude_available);
 730   ok1(nmea_info.gps.satellites_used_available);
 731   ok1(nmea_info.gps.satellites_used == 9);
 732   ok1(nmea_info.static_pressure_available);
 733   ok1(equals(nmea_info.static_pressure.GetPascal(), 97517));
 734   ok1(nmea_info.pressure_altitude_available);
 735   ok1(equals(nmea_info.pressure_altitude, 1321));
 736   ok1(nmea_info.total_energy_vario_available);
 737   ok1(equals(nmea_info.total_energy_vario, -0.01));
 738   ok1(nmea_info.airspeed_available);
 739   ok1(equals(nmea_info.true_airspeed, 103));
 740   ok1(nmea_info.battery_level_available);
 741   ok1(equals(nmea_info.battery_level, 38.0));
 742   ok1(nmea_info.temperature_available);
 743   ok1(equals(nmea_info.temperature, Units::ToSysUnit(fixed(17), Unit::DEGREES_CELCIUS)));
 744
 745   delete device;
 746 }
 747
 748 static void
 749 TestLeonardo()
 750 {
 751   NullPort null;
 752   Device *device = leonardo_driver.CreateOnPort(dummy_config, null);
 753   ok1(device != NULL);
 754
 755   NMEAInfo nmea_info;
 756   nmea_info.Reset();
 757   nmea_info.clock = fixed(1);
 758
 759   ok1(device->ParseNMEA("$C,+2025,-7,+18,+25,+29,122,314,314,0,-356,+25,45,T*3D",
 760                         nmea_info));
 761   ok1(nmea_info.baro_altitude_available);
 762   ok1(equals(nmea_info.baro_altitude, 2025));
 763   ok1(nmea_info.total_energy_vario_available);
 764   ok1(equals(nmea_info.total_energy_vario, -0.07));
 765   ok1(nmea_info.airspeed_available);
 766   ok1(equals(nmea_info.true_airspeed, 5));
 767   ok1(nmea_info.netto_vario_available);
 768   ok1(equals(nmea_info.netto_vario, 2.5));
 769
 770   ok1(nmea_info.temperature_available);
 771   ok1(equals(nmea_info.temperature, 302.15));
 772
 773   ok1(nmea_info.external_wind_available);
 774   ok1(equals(nmea_info.external_wind.bearing, 45));
 775   ok1(equals(nmea_info.external_wind.norm, 6.94444444));
 776
 777   nmea_info.Reset();
 778   nmea_info.clock = fixed(1);
 779
 780   ok1(device->ParseNMEA("$c,+2025,-2,+18*5C", nmea_info));
 781   ok1(nmea_info.baro_altitude_available);
 782   ok1(equals(nmea_info.baro_altitude, 2025));
 783   ok1(nmea_info.total_energy_vario_available);
 784   ok1(equals(nmea_info.total_energy_vario, -0.02));
 785   ok1(nmea_info.airspeed_available);
 786   ok1(equals(nmea_info.true_airspeed,
 787              Units::ToSysUnit(fixed(18), Unit::KILOMETER_PER_HOUR)));
 788   ok1(!nmea_info.netto_vario_available);
 789
 790   nmea_info.Reset();
 791   nmea_info.clock = fixed(1);
 792
 793   ok1(device->ParseNMEA("$D,+7,100554,+25,18,+31,,0,-356,+25,+11,115,96*6A",
 794                         nmea_info));
 795   ok1(nmea_info.total_energy_vario_available);
 796   ok1(equals(nmea_info.total_energy_vario, 0.7));
 797   ok1(nmea_info.static_pressure_available);
 798   ok1(equals(nmea_info.static_pressure.GetHectoPascal(), 1005.54));
 799   ok1(nmea_info.netto_vario_available);
 800   ok1(equals(nmea_info.netto_vario, 2.5));
 801   ok1(nmea_info.airspeed_available);
 802   ok1(equals(nmea_info.true_airspeed, 5));
 803   ok1(nmea_info.temperature_available);
 804   ok1(equals(nmea_info.temperature, 304.15));
 805
 806   nmea_info.Reset();
 807   nmea_info.clock = fixed(1);
 808
 809   ok1(device->ParseNMEA("$PDGFTL1,2025,2000,250,-14,45,134,28,65,382,153*3D",
 810                         nmea_info));
 811   ok1(nmea_info.pressure_altitude_available);
 812   ok1(equals(nmea_info.pressure_altitude, 2025));
 813   ok1(nmea_info.baro_altitude_available);
 814   ok1(equals(nmea_info.baro_altitude, 2000));
 815   ok1(nmea_info.total_energy_vario_available);
 816   ok1(equals(nmea_info.total_energy_vario, 2.5));
 817   ok1(nmea_info.netto_vario_available);
 818   ok1(equals(nmea_info.netto_vario, -1.4));
 819   ok1(nmea_info.airspeed_available);
 820   ok1(nmea_info.airspeed_real);
 821   ok1(equals(nmea_info.indicated_airspeed,
 822              Units::ToSysUnit(fixed(45), Unit::KILOMETER_PER_HOUR)));
 823   ok1(nmea_info.external_wind_available);
 824   ok1(equals(nmea_info.external_wind.bearing, 65));
 825   ok1(equals(nmea_info.external_wind.norm, 7.777777));
 826   ok1(nmea_info.voltage_available);
 827   ok1(equals(nmea_info.voltage, 3.82));
 828
 829   nmea_info.Reset();
 830   nmea_info.clock = fixed(1);
 831
 832   ok1(device->ParseNMEA("$PDGFTTL,2025,2000,250,-14*41", nmea_info));
 833   ok1(nmea_info.pressure_altitude_available);
 834   ok1(equals(nmea_info.pressure_altitude, 2025));
 835   ok1(nmea_info.baro_altitude_available);
 836   ok1(equals(nmea_info.baro_altitude, 2000));
 837   ok1(nmea_info.total_energy_vario_available);
 838   ok1(equals(nmea_info.total_energy_vario, 2.5));
 839   ok1(nmea_info.netto_vario_available);
 840   ok1(equals(nmea_info.netto_vario, -1.4));
 841
 842   delete device;
 843 }
 844
 845 static void
 846 TestLevilAHRS()
 847 {
 848   NullPort null;
 849   Device *device = levil_driver.CreateOnPort(dummy_config, null);
 850   ok1(device != NULL);
 851
 852   NMEAInfo nmea_info;
 853   nmea_info.Reset();
 854   nmea_info.clock = fixed(1);
 855
 856   // All angles in tenth of degrees
 857   ok1(device->ParseNMEA("$RPYL,127,729,3215,99,88,1376,0,", nmea_info));
 858   ok1(nmea_info.attitude.bank_angle_available);
 859   ok1(equals(nmea_info.attitude.bank_angle, 12.7));
 860   ok1(nmea_info.attitude.pitch_angle_available);
 861   ok1(equals(nmea_info.attitude.pitch_angle, 72.9));
 862   ok1(nmea_info.attitude.heading_available);
 863   ok1(equals(nmea_info.attitude.heading, 321.5));
 864   ok1(nmea_info.acceleration.available);
 865   ok1(nmea_info.acceleration.real);
 866   ok1(equals(nmea_info.acceleration.g_load, 1.376));
 867
 868   // speed in kn, alt in ft, vs in ft/min
 869   ok1(device->ParseNMEA("$APENV1,94,1500,0,0,0,0,", nmea_info));
 870   ok1(nmea_info.airspeed_available);
 871   ok1(equals(nmea_info.indicated_airspeed, 48.357777777));
 872   ok1(nmea_info.pressure_altitude_available);
 873   ok1(equals(nmea_info.pressure_altitude, 457.2));
 874   // vertical speed not implemented
 875
 876   delete device;
 877 }
 878
 879
 880 static void
 881 TestLX(const struct DeviceRegister &driver, bool condor=false)
 882 {
 883   NullPort null;
 884   Device *device = driver.CreateOnPort(dummy_config, null);
 885   ok1(device != NULL);
 886
 887   NMEAInfo nmea_info;
 888   nmea_info.Reset();
 889   nmea_info.clock = fixed(1);
 890
 891   /* empty sentence */
 892   ok1(device->ParseNMEA("$LXWP0,N,,,,,,,,,,,*6d", nmea_info));
 893   ok1(!nmea_info.pressure_altitude_available);
 894   ok1(!nmea_info.baro_altitude_available);
 895   ok1(!nmea_info.airspeed_available);
 896   ok1(!nmea_info.total_energy_vario_available);
 897   ok1(!nmea_info.external_wind_available);
 898
 899
 900   nmea_info.Reset();
 901   nmea_info.clock = fixed(1);
 902
 903   /* altitude and wind */
 904   ok1(device->ParseNMEA("$LXWP0,N,,1266.5,,,,,,,,248,23.1*55", nmea_info));
 905
 906   if (condor) {
 907     ok1(!nmea_info.pressure_altitude_available);
 908     ok1(nmea_info.baro_altitude_available);
 909     ok1(equals(nmea_info.baro_altitude, 1266.5));
 910   } else {
 911     ok1(nmea_info.pressure_altitude_available);
 912     ok1(!nmea_info.baro_altitude_available);
 913     ok1(equals(nmea_info.pressure_altitude, 1266.5));
 914   }
 915
 916   ok1(!nmea_info.airspeed_available);
 917   ok1(!nmea_info.total_energy_vario_available);
 918
 919   ok1(nmea_info.external_wind_available);
 920   ok1(equals(nmea_info.external_wind.norm, 23.1 / 3.6));
 921   ok1(equals(nmea_info.external_wind.bearing, condor ? 68 : 248));
 922
 923
 924   nmea_info.Reset();
 925   nmea_info.clock = fixed(1);
 926
 927   /* airspeed and vario available */
 928   ok1(device->ParseNMEA("$LXWP0,Y,222.3,1665.5,1.71,,,,,,239,174,10.1*47",
 929                         nmea_info));
 930   ok1((bool)nmea_info.pressure_altitude_available == !condor);
 931   ok1((bool)nmea_info.baro_altitude_available == condor);
 932   ok1(equals(condor ? nmea_info.baro_altitude : nmea_info.pressure_altitude,
 933              1665.5));
 934   ok1(nmea_info.airspeed_available);
 935   ok1(equals(nmea_info.true_airspeed, 222.3/3.6));
 936   ok1(nmea_info.total_energy_vario_available);
 937   ok1(equals(nmea_info.total_energy_vario, 1.71));
 938
 939   ok1(nmea_info.external_wind_available);
 940   ok1(equals(nmea_info.external_wind.norm, 10.1 / 3.6));
 941   ok1(equals(nmea_info.external_wind.bearing, condor ? 354 : 174));
 942
 943
 944   nmea_info.Reset();
 945   nmea_info.clock = fixed(1);
 946
 947   /* airspeed without altitude */
 948   ok1(device->ParseNMEA("$LXWP0,Y,222.3,,,,,,,,,,*55",
 949                         nmea_info));
 950   ok1(!nmea_info.pressure_altitude_available);
 951   ok1(!nmea_info.baro_altitude_available);
 952   // TODO: indicated airspeed shouldn't be available without altitude
 953   ok1(nmea_info.airspeed_available);
 954   ok1(equals(nmea_info.true_airspeed, 222.3/3.6));
 955   ok1(equals(nmea_info.indicated_airspeed, 222.3/3.6));
 956
 957
 958   if (!condor) {
 959     ok1(device->ParseNMEA("$LXWP2,1.7,1.1,5,,,,*3e", nmea_info));
 960     ok1(nmea_info.settings.mac_cready_available);
 961     ok1(equals(nmea_info.settings.mac_cready, 1.7));
 962     ok1(nmea_info.settings.ballast_overload_available);
 963     ok1(equals(nmea_info.settings.ballast_overload, 1.1));
 964     ok1(nmea_info.settings.bugs_available);
 965     ok1(equals(nmea_info.settings.bugs, 0.95));
 966     ok1(!nmea_info.settings.volume_available);
 967
 968     ok1(device->ParseNMEA("$LXWP2,,,,,,,76*0c", nmea_info));
 969     ok1(nmea_info.settings.volume_available);
 970     ok1(nmea_info.settings.volume == 76);
 971
 972
 973     nmea_info.Reset();
 974     nmea_info.clock = fixed(1);
 975
 976     // Test LX160 (sw 3.04) variant (different bugs notation)
 977     ok1(device->ParseNMEA("$LXWP2,1.1,1.00,1.00,2.14,-3.87,2.38*3E", nmea_info));
 978     ok1(nmea_info.settings.mac_cready_available);
 979     ok1(equals(nmea_info.settings.mac_cready, 1.1));
 980     ok1(nmea_info.settings.ballast_overload_available);
 981     ok1(equals(nmea_info.settings.ballast_overload, 1.0));
 982     ok1(nmea_info.settings.bugs_available);
 983     ok1(equals(nmea_info.settings.bugs, 1.0));
 984     ok1(!nmea_info.settings.volume_available);
 985
 986     ok1(device->ParseNMEA("$LXWP2,1.1,1.50,1.10,1.83,-3.87,2.91*34", nmea_info));
 987     ok1(nmea_info.settings.mac_cready_available);
 988     ok1(equals(nmea_info.settings.mac_cready, 1.1));
 989     ok1(nmea_info.settings.ballast_overload_available);
 990     ok1(equals(nmea_info.settings.ballast_overload, 1.5));
 991     ok1(nmea_info.settings.bugs_available);
 992     ok1(equals(nmea_info.settings.bugs, 0.9));
 993     ok1(!nmea_info.settings.volume_available);
 994
 995     ok1(device->ParseNMEA("$LXWP2,0.0,1.20,1.05,2.00,-3.87,2.61*30", nmea_info));
 996     ok1(nmea_info.settings.mac_cready_available);
 997     ok1(equals(nmea_info.settings.mac_cready, 0.0));
 998     ok1(nmea_info.settings.ballast_overload_available);
 999     ok1(equals(nmea_info.settings.ballast_overload, 1.2));
1000     ok1(nmea_info.settings.bugs_available);
1001     ok1(equals(nmea_info.settings.bugs, 0.95));
1002     ok1(!nmea_info.settings.volume_available);
1003
1004     ok1(device->ParseNMEA("$LXWP2,1.5,1.00,2.5,2.14,-3.87,2.38*0C", nmea_info));
1005     ok1(nmea_info.settings.mac_cready_available);
1006     ok1(equals(nmea_info.settings.mac_cready, 1.5));
1007     ok1(nmea_info.settings.ballast_overload_available);
1008     ok1(equals(nmea_info.settings.ballast_overload, 1.0));
1009     ok1(nmea_info.settings.bugs_available);
1010     ok1(equals(nmea_info.settings.bugs, 0.975));
1011     ok1(!nmea_info.settings.volume_available);
1012
1013
1014     nmea_info.Reset();
1015     nmea_info.clock = fixed(1);
1016
1017     LXDevice &lx_device = *(LXDevice *)device;
1018     ok1(!lx_device.IsV7());
1019     ok1(!lx_device.IsNano());
1020     ok1(!lx_device.IsLX16xx());
1021
1022     lx_device.ResetDeviceDetection();
1023     ok1(device->ParseNMEA("$LXWP1,V7,12345,1.0,1.0,12345*6f", nmea_info));
1024     ok1(lx_device.IsV7());
1025     ok1(!lx_device.IsNano());
1026     ok1(!lx_device.IsLX16xx());
1027
1028     lx_device.ResetDeviceDetection();
1029     ok1(device->ParseNMEA("$LXWP1,NANO,12345,1.0,1.0,12345*00", nmea_info));
1030     ok1(!lx_device.IsV7());
1031     ok1(lx_device.IsNano());
1032     ok1(!lx_device.IsLX16xx());
1033
1034     lx_device.ResetDeviceDetection();
1035     ok1(device->ParseNMEA("$LXWP1,1606,4294967295,1.90,1.00,4294967295*06", nmea_info));
1036     ok1(!lx_device.IsV7());
1037     ok1(!lx_device.IsNano());
1038     ok1(lx_device.IsLX16xx());
1039
1040     ok1(nmea_info.device.product == "1606");
1041     ok1(nmea_info.device.serial == "4294967295");
1042     ok1(nmea_info.device.software_version == "1.90");
1043     ok1(nmea_info.device.hardware_version == "1.00");
1044
1045
1046     ok1(device->ParseNMEA("$LXWP3,47.76,0,2.0,5.0,15,30,2.5,1.0,0,100,0.1,,0*08", nmea_info));
1047     ok1(nmea_info.settings.qnh_available);
1048     ok1(equals(nmea_info.settings.qnh.GetHectoPascal(), 1015));
1049   }
1050
1051   delete device;
1052 }
1053
1054 static void
1055 TestLXV7()
1056 {
1057   NullPort null;
1058   Device *device = lx_driver.CreateOnPort(dummy_config, null);
1059   ok1(device != NULL);
1060
1061   NMEAInfo basic;
1062   basic.Reset();
1063   basic.clock = fixed(1);
1064
1065   LXDevice &lx_device = *(LXDevice *)device;
1066   lx_device.ResetDeviceDetection();
1067
1068   ok1(device->ParseNMEA("$PLXVF,,1.00,0.87,-0.12,-0.25,90.2,244.3,*64", basic));
1069   ok1(basic.netto_vario_available);
1070   ok1(equals(basic.netto_vario, -0.25));
1071   ok1(basic.airspeed_available);
1072   ok1(equals(basic.indicated_airspeed, 90.2));
1073   ok1(basic.pressure_altitude_available);
1074   ok1(equals(basic.pressure_altitude, 244.3));
1075
1076   ok1(lx_device.IsV7());
1077   lx_device.ResetDeviceDetection();
1078
1079   ok1(device->ParseNMEA("$PLXVS,23.1,0,12.3,*71", basic));
1080   ok1(basic.temperature_available);
1081   ok1(equals(basic.temperature, 296.25));
1082   ok1(basic.switch_state.flight_mode == SwitchState::FlightMode::CIRCLING);
1083   ok1(basic.voltage_available);
1084   ok1(equals(basic.voltage, 12.3));
1085
1086   ok1(lx_device.IsV7());
1087
1088   delete device;
1089 }
1090
1091 static void
1092 TestILEC()
1093 {
1094   NullPort null;
1095   Device *device = ilec_driver.CreateOnPort(dummy_config, null);
1096   ok1(device != NULL);
1097
1098   NMEAInfo nmea_info;
1099   nmea_info.Reset();
1100   nmea_info.clock = fixed(1);
1101
1102   /* baro altitude disabled */
1103   ok1(device->ParseNMEA("$PILC,PDA1,1489,-3.21*69", nmea_info));
1104   ok1(!nmea_info.airspeed_available);
1105   ok1(nmea_info.total_energy_vario_available);
1106   ok1(equals(nmea_info.total_energy_vario, -3.21));
1107   ok1(!nmea_info.external_wind_available);
1108
1109   /* baro altitude enabled */
1110   ok1(device->ParseNMEA("$PILC,PDA1,1489,-3.21,274,15,58*7D", nmea_info));
1111   ok1(nmea_info.baro_altitude_available);
1112   ok1(equals(nmea_info.baro_altitude, 1489));
1113   ok1(nmea_info.total_energy_vario_available);
1114   ok1(equals(nmea_info.total_energy_vario, -3.21));
1115   ok1(nmea_info.external_wind_available);
1116   ok1(equals(nmea_info.external_wind.norm, 15 / 3.6));
1117   ok1(equals(nmea_info.external_wind.bearing, 274));
1118
1119   delete device;
1120 }
1121
1122 static void
1123 TestVega()
1124 {
1125   NullPort null;
1126   Device *device = vega_driver.CreateOnPort(dummy_config, null);
1127   ok1(device != NULL);
1128
1129   NMEAInfo nmea_info;
1130   nmea_info.Reset();
1131   nmea_info.clock = fixed(1);
1132
1133   /* enable FLARM mode (switches the $PGRMZ parser to pressure
1134      altitude) */
1135   NMEAParser parser;
1136   ok1(parser.ParseLine("$PFLAU,0,0,0,1,0,,0,,*63", nmea_info));
1137   ok1(parser.ParseLine("$PGRMZ,2447,F,2*0F", nmea_info));
1138   ok1(nmea_info.pressure_altitude_available);
1139   ok1(equals(nmea_info.pressure_altitude, 745.845));
1140
1141   ok1(device->ParseNMEA("$PDSWC,0,1002000,100,115*54", nmea_info));
1142   ok1(nmea_info.settings.mac_cready_available);
1143   ok1(equals(nmea_info.settings.mac_cready, 0));
1144   ok1(nmea_info.voltage_available);
1145   ok1(equals(nmea_info.voltage, 11.5));
1146
1147   ok1(device->ParseNMEA("$PDVDV,1,0,1062,762,9252,0*5B", nmea_info));
1148   ok1(nmea_info.total_energy_vario_available);
1149   ok1(equals(nmea_info.total_energy_vario, 0.1));
1150   ok1(nmea_info.airspeed_available);
1151   ok1(equals(nmea_info.true_airspeed, 0));
1152   ok1(equals(nmea_info.indicated_airspeed, 0));
1153   ok1(!nmea_info.static_pressure_available);
1154   ok1(!nmea_info.baro_altitude_available);
1155   ok1(nmea_info.pressure_altitude_available);
1156   ok1(equals(nmea_info.pressure_altitude, 762));
1157
1158   /* parse $PGRMZ again, it should be ignored */
1159   ok1(parser.ParseLine("$PGRMZ,2447,F,2*0F", nmea_info));
1160   ok1(nmea_info.pressure_altitude_available);
1161   ok1(equals(nmea_info.pressure_altitude, 762));
1162
1163   delete device;
1164 }
1165
1166 static void
1167 TestWesterboer()
1168 {
1169   NullPort null;
1170   Device *device = westerboer_driver.CreateOnPort(dummy_config, null);
1171   ok1(device != NULL);
1172
1173   NMEAInfo nmea_info;
1174   nmea_info.Reset();
1175   nmea_info.clock = fixed(1);
1176
1177   ok1(device->ParseNMEA("$PWES0,20,-25,25,-22,2,-100,589,589,1260,1296,128,295*01",
1178                         nmea_info));
1179   ok1(nmea_info.baro_altitude_available);
1180   ok1(equals(nmea_info.baro_altitude, 589));
1181   ok1(nmea_info.total_energy_vario_available);
1182   ok1(equals(nmea_info.total_energy_vario, -2.5));
1183   ok1(nmea_info.netto_vario_available);
1184   ok1(equals(nmea_info.netto_vario, -2.2));
1185   ok1(nmea_info.airspeed_available);
1186   ok1(equals(nmea_info.indicated_airspeed, 35));
1187   ok1(equals(nmea_info.true_airspeed, 36));
1188   ok1(nmea_info.voltage_available);
1189   ok1(equals(nmea_info.voltage, 12.8));
1190   ok1(nmea_info.temperature_available);
1191   ok1(equals(nmea_info.temperature, 29.5 + 273.15));
1192
1193   ok1(device->ParseNMEA("$PWES1,20,21,0,030,1,6,385,10*1a", nmea_info));
1194   ok1(nmea_info.settings.mac_cready_available);
1195   ok1(equals(nmea_info.settings.mac_cready, 2.1));
1196   ok1(nmea_info.settings.wing_loading_available);
1197   ok1(equals(nmea_info.settings.wing_loading, 38.5));
1198   ok1(nmea_info.settings.bugs_available);
1199   ok1(equals(nmea_info.settings.bugs, 0.9));
1200
1201   delete device;
1202 }
1203
1204 static void
1205 TestZander()
1206 {
1207   NullPort null;
1208   Device *device = zander_driver.CreateOnPort(dummy_config, null);
1209   ok1(device != NULL);
1210
1211   NMEAInfo nmea_info;
1212   nmea_info.Reset();
1213   nmea_info.clock = fixed(1);
1214
1215   /* baro altitude enabled */
1216   ok1(device->ParseNMEA("$PZAN1,02476,123456*04", nmea_info));
1217   ok1(nmea_info.baro_altitude_available);
1218   ok1(equals(nmea_info.baro_altitude, 2476));
1219
1220   ok1(device->ParseNMEA("$PZAN2,123,9850*03", nmea_info));
1221   ok1(nmea_info.airspeed_available);
1222   ok1(equals(nmea_info.true_airspeed, fixed(34.1667)));
1223   ok1(nmea_info.total_energy_vario_available);
1224   ok1(equals(nmea_info.total_energy_vario, fixed(-1.5)));
1225
1226   nmea_info.Reset();
1227   nmea_info.clock = fixed(1);
1228   ok1(device->ParseNMEA("$PZAN3,+,026,V,321,035,A,321,035,V*44", nmea_info));
1229   ok1(nmea_info.external_wind_available);
1230   ok1(equals(nmea_info.external_wind.bearing, 321));
1231   ok1(equals(nmea_info.external_wind.norm, 9.72222));
1232
1233   nmea_info.Reset();
1234   nmea_info.clock = fixed(1);
1235   ok1(device->ParseNMEA("$PZAN3,+,026,V,321,035,V,321,035,V*53", nmea_info));
1236   ok1(!nmea_info.external_wind_available);
1237
1238   nmea_info.Reset();
1239   nmea_info.clock = fixed(1);
1240   ok1(device->ParseNMEA("$PZAN3,+,026,A,321,035,A*2f", nmea_info));
1241   ok1(nmea_info.external_wind_available);
1242   ok1(equals(nmea_info.external_wind.bearing, 321));
1243   ok1(equals(nmea_info.external_wind.norm, 9.72222));
1244
1245   nmea_info.Reset();
1246   nmea_info.clock = fixed(1);
1247   ok1(device->ParseNMEA("$PZAN3,+,026,A,321,035,A,V*55", nmea_info));
1248   ok1(nmea_info.external_wind_available);
1249   ok1(equals(nmea_info.external_wind.bearing, 321));
1250   ok1(equals(nmea_info.external_wind.norm, 9.72222));
1251
1252   nmea_info.Reset();
1253   nmea_info.clock = fixed(1);
1254   ok1(device->ParseNMEA("$PZAN3,+,026,A,321,035,V,A*55", nmea_info));
1255   ok1(nmea_info.external_wind_available);
1256   ok1(equals(nmea_info.external_wind.bearing, 321));
1257   ok1(equals(nmea_info.external_wind.norm, 9.72222));
1258
1259   nmea_info.Reset();
1260   nmea_info.clock = fixed(1);
1261   ok1(device->ParseNMEA("$PZAN3,+,026,A,321,035,A,A*42", nmea_info));
1262   ok1(nmea_info.external_wind_available);
1263   ok1(equals(nmea_info.external_wind.bearing, 321));
1264   ok1(equals(nmea_info.external_wind.norm, 9.72222));
1265
1266   nmea_info.Reset();
1267   nmea_info.clock = fixed(1);
1268   ok1(device->ParseNMEA("$PZAN3,+,026,A,321,035,V*38", nmea_info));
1269   ok1(!nmea_info.external_wind_available);
1270
1271   nmea_info.Reset();
1272   nmea_info.clock = fixed(1);
1273   ok1(device->ParseNMEA("$PZAN3,+,026,A,321,035,V,V*42", nmea_info));
1274   ok1(!nmea_info.external_wind_available);
1275
1276   ok1(device->ParseNMEA("$PZAN4,1.5,+,20,39,45*15", nmea_info));
1277   ok1(nmea_info.settings.mac_cready_available);
1278   ok1(equals(nmea_info.settings.mac_cready, 1.5));
1279
1280   nmea_info.Reset();
1281   nmea_info.clock = fixed(1);
1282   ok1(device->ParseNMEA("$PZAN5,,MUEHL,123.4,KM,T,234*24", nmea_info));
1283   ok1(nmea_info.switch_state.flight_mode == SwitchState::FlightMode::UNKNOWN);
1284
1285   nmea_info.Reset();
1286   nmea_info.clock = fixed(1);
1287   ok1(device->ParseNMEA("$PZAN5,SF,MUEHL,123.4,KM,T,234*31", nmea_info));
1288   ok1(nmea_info.switch_state.flight_mode == SwitchState::FlightMode::CRUISE);
1289
1290   nmea_info.Reset();
1291   nmea_info.clock = fixed(1);
1292   ok1(device->ParseNMEA("$PZAN5,VA,MUEHL,123.4,KM,T,234*33", nmea_info));
1293   ok1(nmea_info.switch_state.flight_mode == SwitchState::FlightMode::CIRCLING);
1294
1295   delete device;
1296 }
1297
1298 static void
1299 TestDeclare(const struct DeviceRegister &driver)
1300 {
1301   FaultInjectionPort port(*(DataHandler *)NULL);
1302   Device *device = driver.CreateOnPort(dummy_config, port);
1303   ok1(device != NULL);
1304
1305   LoggerSettings logger_settings;
1306   logger_settings.pilot_name = _T("Foo Bar");
1307   Plane plane;
1308   plane.registration = _T("D-3003");
1309   plane.competition_id = _T("33");
1310   plane.type = _T("Cirrus");
1311
1312   Declaration declaration(logger_settings, plane, NULL);
1313   const GeoPoint gp(Angle::Degrees(7.7061111111111114),
1314                     Angle::Degrees(51.051944444444445));
1315   Waypoint wp(gp);
1316   wp.name = _T("Foo");
1317   wp.elevation = fixed(123);
1318   declaration.Append(wp);
1319   declaration.Append(wp);
1320   declaration.Append(wp);
1321   declaration.Append(wp);
1322
1323   NullOperationEnvironment env;
1324
1325   for (unsigned i = 0; i < 1024; ++i) {
1326     inject_port_fault = i;
1327     bool success = device->Declare(declaration, NULL, env);
1328     if (success || !port.running ||
1329         port.baud_rate != FaultInjectionPort::DEFAULT_BAUD_RATE)
1330       break;
1331   }
1332
1333   device->EnableNMEA(env);
1334
1335   ok1(port.baud_rate == FaultInjectionPort::DEFAULT_BAUD_RATE);
1336
1337   delete device;
1338 }
1339
1340 static void
1341 TestFlightList(const struct DeviceRegister &driver)
1342 {
1343   FaultInjectionPort port(*(DataHandler *)NULL);
1344   Device *device = driver.CreateOnPort(dummy_config, port);
1345   ok1(device != NULL);
1346
1347   NullOperationEnvironment env;
1348
1349   for (unsigned i = 0; i < 1024; ++i) {
1350     inject_port_fault = i;
1351     RecordedFlightList flight_list;
1352     bool success = device->ReadFlightList(flight_list, env);
1353     if (success || !port.running ||
1354         port.baud_rate != FaultInjectionPort::DEFAULT_BAUD_RATE)
1355       break;
1356   }
1357
1358   device->EnableNMEA(env);
1359
1360   ok1(port.baud_rate == FaultInjectionPort::DEFAULT_BAUD_RATE);
1361
1362   delete device;
1363 }
1364
1365 int main(int argc, char **argv)
1366 {
1367   plan_tests(724);
1368
1369   TestGeneric();
1370   TestTasman();
1371   TestFLARM();
1372   TestAltairRU();
1373   TestGTAltimeter();
1374   TestBlueFly();
1375   TestBorgeltB50();
1376   TestCAI302();
1377   TestCProbe();
1378   TestEye();
1379   TestFlymasterF1();
1380   TestFlytec();
1381   TestLeonardo();
1382   TestLevilAHRS();
1383   TestLX(lx_driver);
1384   TestLX(condor_driver, true);
1385   TestLXV7();
1386   TestILEC();
1387   TestVega();
1388   TestWesterboer();
1389   TestZander();
1390   TestFlyNet();
1391
1392   /* XXX the Triadis drivers have too many dependencies, not enabling
1393      for now */
1394   //TestDeclare(altair_pro_driver);
1395   TestDeclare(cai302_driver);
1396   TestDeclare(ew_driver);
1397   TestDeclare(ew_microrecorder_driver);
1398   TestDeclare(posigraph_driver);
1399   TestDeclare(lx_driver);
1400   TestDeclare(imi_driver);
1401   TestDeclare(flarm_driver);
1402   //TestDeclare(vega_driver);
1403
1404   /* XXX Volkslogger doesn't do well with this test case */
1405   //TestDeclare(volkslogger_driver);
1406
1407   TestFlightList(cai302_driver);
1408   TestFlightList(lx_driver);
1409   TestFlightList(imi_driver);
1410
1411   return exit_status();
1412 }