def test_supported_sentence_types(self) -> None:
"""Tests if supported sentence types are indeed supported, and if other types raise.
It is important to notice that GNS sentence type is not supported by the nmeasim library, and thus we currently
don't test it here.
"""
for sentence in self.supported_nmea_sentences:
parse_mavlink_from_sentence(sentence)
for sentence in self.unsupported_nmea_sentences:
# NMEA-Injector does not support ZDA sentence type, thus it will raise
with pytest.raises(UnsupportedSentenceType):
parse_mavlink_from_sentence(sentence)
def test_lat_lon(self) -> None:
"""Tests if latitude and longitude values parsed to Mavlink package are the correct ones."""
for sentence in self.supported_nmea_sentences:
mavlink_data = parse_mavlink_from_sentence(sentence)
# Mavlink GPS input uses "degE7" unit, thus we need to transform the original degree value to do the check
assert mavlink_data.lat == pytest.approx(self.LAT_FD * 1e7)
assert mavlink_data.lon == pytest.approx(self.LON_FD * 1e7)
def test_alt(self) -> None:
"""Tests if 'alt' field is working correctly for all sentence types that support it."""
types_support_alt = ["GGA"]
for sentence in [
msg for msg in self.supported_nmea_sentences
if msg.sentence_type in types_support_alt
]:
mavlink_data = parse_mavlink_from_sentence(sentence)
assert mavlink_data.alt == self.ALTITUDE
def test_num_sats(self) -> None:
"""Tests if 'satellites_visible' field is working correctly for all sentence types that support it."""
types_support_sats = ["GGA", "GNS"]
for sentence in [
msg for msg in self.supported_nmea_sentences
if msg.sentence_type in types_support_sats
]:
mavlink_data = parse_mavlink_from_sentence(sentence)
assert mavlink_data.satellites_visible == self.NUM_SATS
def test_hdop(self) -> None:
"""Tests if 'hdop' field is working correctly for all sentence types that support it."""
types_support_hdop = ["GGA", "GNS"]
for sentence in [
msg for msg in self.supported_nmea_sentences
if msg.sentence_type in types_support_hdop
]:
mavlink_data = parse_mavlink_from_sentence(sentence)
assert mavlink_data.hdop == self.HDOP
def parse_mavlink_package(nmea_msg: str) -> MavlinkGpsInput:
"""Transform NMEA message into proper Mavlink GPS_INPUT package."""
nmea_sentence = pynmea2.parse(nmea_msg)
return parse_mavlink_from_sentence(nmea_sentence)