1 /*
2 * Copyright 2024 Trackunit Corporation
3 *
4 * SPDX-License-Identifier: Apache-2.0
5 */
6
7 #include <zephyr/drivers/gnss.h>
8 #include <zephyr/kernel.h>
9 #include <zephyr/sys/atomic.h>
10 #include <zephyr/ztest.h>
11
12 #define TEST_SEARCH_PERIOD K_SECONDS(CONFIG_TEST_SEARCH_PERIOD)
13
14 static const struct device *dev = DEVICE_DT_GET(DT_ALIAS(gnss));
15 static const gnss_systems_t enabled_systems_array[] = {
16 CONFIG_TEST_ENABLED_SYSTEMS_0,
17 CONFIG_TEST_ENABLED_SYSTEMS_1,
18 CONFIG_TEST_ENABLED_SYSTEMS_2,
19 CONFIG_TEST_ENABLED_SYSTEMS_3,
20 };
21
test_reported_are_expected(gnss_systems_t reported,gnss_systems_t expected)22 static bool test_reported_are_expected(gnss_systems_t reported, gnss_systems_t expected)
23 {
24 return ((~expected) & reported) == 0;
25 }
26
test_set_enabled_systems(gnss_systems_t enabled_systems)27 static void test_set_enabled_systems(gnss_systems_t enabled_systems)
28 {
29 int ret;
30
31 ret = gnss_set_enabled_systems(dev, enabled_systems);
32 zassert_ok(ret, "failed to set enabled systems (%i)", ret);
33 }
34
test_get_system_enabled(gnss_systems_t expected_systems)35 static void test_get_system_enabled(gnss_systems_t expected_systems)
36 {
37 int ret;
38 gnss_systems_t enabled_systems;
39
40 ret = gnss_get_enabled_systems(dev, &enabled_systems);
41 if (ret == -ENOSYS) {
42 return;
43 }
44 zassert_ok(ret, "failed to get enabled systems (%i)", ret);
45
46 zassert_equal(enabled_systems, expected_systems,
47 "invalid enabled systems (%u != %u)",
48 enabled_systems, expected_systems);
49 }
50
51 #ifdef CONFIG_GNSS_SATELLITES
52 static atomic_t reported_systems_atom = ATOMIC_INIT(0);
53
gnss_satellites_cb(const struct device * dev,const struct gnss_satellite * satellites,uint16_t size)54 static void gnss_satellites_cb(const struct device *dev,
55 const struct gnss_satellite *satellites,
56 uint16_t size)
57 {
58 for (uint16_t i = 0; i < size; i++) {
59 atomic_or(&reported_systems_atom, satellites[i].system);
60 }
61 }
62
63 GNSS_SATELLITES_CALLBACK_DEFINE(DEVICE_DT_GET(DT_ALIAS(gnss)), gnss_satellites_cb);
64
test_validate_satellites(gnss_systems_t expected_systems)65 static void test_validate_satellites(gnss_systems_t expected_systems)
66 {
67 gnss_systems_t reported_systems;
68 bool expected;
69
70 atomic_set(&reported_systems_atom, 0);
71 PRINT("searching with enabled system %u\n", expected_systems);
72 k_sleep(TEST_SEARCH_PERIOD);
73
74 reported_systems = atomic_get(&reported_systems_atom);
75 if (reported_systems == 0) {
76 PRINT("found no satellites\n");
77 } else {
78 PRINT("found satellites\n");
79 }
80
81 expected = test_reported_are_expected(reported_systems, expected_systems);
82 zassert_true(expected, "unexpected systems reported (%u != %u)",
83 reported_systems, expected_systems);
84 }
85 #endif
86
test_validate_enabled_systems(void)87 static void test_validate_enabled_systems(void)
88 {
89 gnss_systems_t enabled_systems;
90
91 for (uint8_t i = 0; i < ARRAY_SIZE(enabled_systems_array); i++) {
92 enabled_systems = enabled_systems_array[i];
93 if (enabled_systems == 0) {
94 continue;
95 }
96
97 test_set_enabled_systems(enabled_systems);
98 test_get_system_enabled(enabled_systems);
99 #ifdef CONFIG_GNSS_SATELLITES
100 test_validate_satellites(enabled_systems);
101 #endif
102 }
103 }
104
test_all_enabled_systems_are_disabled(void)105 static bool test_all_enabled_systems_are_disabled(void)
106 {
107 gnss_systems_t enabled_systems;
108
109 for (uint8_t i = 0; i < ARRAY_SIZE(enabled_systems_array); i++) {
110 enabled_systems = enabled_systems_array[i];
111 if (enabled_systems != 0) {
112 return false;
113 }
114 }
115
116 return true;
117 }
118
test_validate_supported_systems(void)119 static void test_validate_supported_systems(void)
120 {
121 gnss_systems_t supported_systems;
122 int ret;
123 gnss_systems_t enabled_systems;
124 bool supported;
125
126 ret = gnss_get_supported_systems(dev, &supported_systems);
127 if (ret == -ENOSYS) {
128 return;
129 }
130 zassert_ok(ret, "failed to get supported systems (%i)", ret);
131
132 for (uint8_t i = 0; i < ARRAY_SIZE(enabled_systems_array); i++) {
133 enabled_systems = enabled_systems_array[0];
134 supported = test_reported_are_expected(enabled_systems, supported_systems);
135 zassert_true(supported, "enabled systems %u is not supported", i);
136 }
137 }
138
ZTEST(gnss_api,test_enabled_systems)139 ZTEST(gnss_api, test_enabled_systems)
140 {
141 if (test_all_enabled_systems_are_disabled()) {
142 ztest_test_skip();
143 }
144
145 test_validate_supported_systems();
146 test_validate_enabled_systems();
147 }
148
