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Handle GPGSV log with 0 satellites correctly (ROS2) #77

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merged 1 commit into from
Dec 5, 2019
Merged

Handle GPGSV log with 0 satellites correctly (ROS2) #77

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8 changes: 5 additions & 3 deletions novatel_gps_driver/src/parsers/gpgsv.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -90,12 +90,14 @@ novatel_gps_driver::GpgsvParser::MessageType novatel_gps_driver::GpgsvParser::Pa
{
n_sats_in_sentence = msg->n_satellites % static_cast<uint8_t>(4);
}
// Check that the sentence is the right length for the number of satellites
size_t expected_length = MIN_LENGTH + 4 * n_sats_in_sentence;
if (n_sats_in_sentence == 0)
{
n_sats_in_sentence = 4;
// Even if the number of sats is 0, the message will still have enough
// blank fields for 1 satellite.
expected_length += 4;
}
// Check that the sentence is the right length for the number of satellites
size_t expected_length = MIN_LENGTH + 4 * n_sats_in_sentence;
if (sentence.body.size() != expected_length && sentence.body.size() != expected_length -1)
{
std::stringstream ss;
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10 changes: 8 additions & 2 deletions novatel_gps_driver/test/parser_tests.cpp
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Expand Up @@ -184,7 +184,8 @@ TEST(ParserTestSuite, testCorrimudataAsciiParsing)
TEST(ParserTestSuite, testGpgsvParsing)
{
novatel_gps_driver::GpgsvParser parser;
std::string sentence_str = "$GPGSV,3,3,11,12,07,00.,32,13,03,227,36,22,0.,041,*4A\r\n";
std::string sentence_str = "$GPGSV,3,3,11,12,07,00.,32,13,03,227,36,22,0.,041,*4A\r\n"
"$GPGSV,1,1,00,,,,*79\r\n";
std::string extracted_str;

novatel_gps_driver::NovatelMessageExtractor extractor(logger);
Expand All @@ -197,7 +198,7 @@ TEST(ParserTestSuite, testGpgsvParsing)
extractor.ExtractCompleteMessages(sentence_str, nmea_sentences, novatel_sentences,
binary_messages, remaining);

ASSERT_EQ(1, nmea_sentences.size());
ASSERT_EQ(2, nmea_sentences.size());
ASSERT_EQ(0, binary_messages.size());
ASSERT_EQ(0, novatel_sentences.size());

Expand Down Expand Up @@ -226,6 +227,11 @@ TEST(ParserTestSuite, testGpgsvParsing)
ASSERT_EQ(0, msg->satellites[2].elevation);
ASSERT_EQ(41, msg->satellites[2].azimuth);
ASSERT_EQ(-1, msg->satellites[2].snr);

msg = parser.ParseAscii(nmea_sentences.at(1));

ASSERT_NE(msg.get(), nullptr);
ASSERT_EQ(0, msg->satellites.size());
}

TEST(ParserTestSuite, testGphdtParsing)
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