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fix(ubx): remove test that accessed the real device
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@malobanov
malobanov committed Aug 11, 2023
1 parent 09b602f commit a6a16fa
Showing 1 changed file with 71 additions and 71 deletions.
142 changes: 71 additions & 71 deletions src/Asv.Gnss.Test/UbxDeviceTest.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -7,75 +7,75 @@

namespace Asv.Gnss.Test
{
public class UbxDeviceTest
{
private readonly ITestOutputHelper _output;
private UbxDevice _device;
private readonly RxValue<UbxNavSvin> _svIn;
private bool _isInit;

public UbxDeviceTest(ITestOutputHelper output)
{
_output = output;
_svIn = new RxValue<UbxNavSvin>().DisposeItWith(Disposable);
}

[Fact]
public void ConnectToDevice()
{
var msg = new UbxCfgCfg
{
ClearMask = UbxCfgSection.All,
SaveMask = UbxCfgSection.All,
LoadMask = UbxCfgSection.None,
DeviceMask = UbxCfgDeviceMask.DevBbr
};
var b = new byte[1024];
var buffer = new Span<byte>(b);
msg.Serialize(ref buffer);

_device = new UbxDevice("tcp://172.16.0.1:3307").DisposeItWith(Disposable);
_device.Connection.Filter<UbxNavSvin>().Subscribe(_svIn).DisposeItWith(Disposable);
_device.SetStationaryMode(false, 1).Wait(CancellationToken.None);
_device.TurnOffNmea(CancellationToken.None).Wait(CancellationToken.None);
_device.SetMessageRate<UbxNavSvin>(1).Wait(CancellationToken.None);
_device.SetMessageRate<UbxNavPvt>(1).Wait(CancellationToken.None);
_device.SetMessageRate((byte)UbxHelper.ClassIDs.RTCM3, 0x05, 5).Wait(CancellationToken.None);

_device.SetupRtcmMSM4Rate(1,CancellationToken.None).Wait(CancellationToken.None);
_device.SetupRtcmMSM7Rate(0,default).Wait(CancellationToken.None);
_device.SetMessageRate((byte)UbxHelper.ClassIDs.RTCM3, 0xE6, 5).Wait(CancellationToken.None);
_device.SetMessageRate((byte)UbxHelper.ClassIDs.NAV, 0x12, 1).Wait(CancellationToken.None);
_device.SetMessageRate((byte)UbxHelper.ClassIDs.RXM, 0x15, 1).Wait(CancellationToken.None);
_device.SetMessageRate((byte)UbxHelper.ClassIDs.RXM, 0x13, 2, default).Wait(CancellationToken.None);
_device.SetMessageRate((byte)UbxHelper.ClassIDs.MON, 0x09, 2, default).Wait(CancellationToken.None);



_device.CallCfgSave(CancellationToken.None).Wait(CancellationToken.None);
_device.Connection
.Send(new UbxCfgRst { Bbr = BbrMask.ColdStart, Mode = ResetMode.ControlledSoftwareResetGnssOnly },
CancellationToken.None).Wait(CancellationToken.None);

while (true)
{
try
{
var value = _device.GetMonHw(CancellationToken.None).Result;
break;
}
catch (UbxDeviceTimeoutException)
{
Thread.Sleep(TimeSpan.FromSeconds(1));
}
}
_device.CallCfgLoad(CancellationToken.None).Wait(CancellationToken.None);

var ver = _device.GetMonVer().Result;
var cfgTMode3 = _device.GetCfgTMode3(CancellationToken.None).Result;
_isInit = true;
}

public CompositeDisposable Disposable { get; } = new CompositeDisposable();
}
// public class UbxDeviceTest
// {
// private readonly ITestOutputHelper _output;
// private UbxDevice _device;
// private readonly RxValue<UbxNavSvin> _svIn;
// private bool _isInit;
//
// public UbxDeviceTest(ITestOutputHelper output)
// {
// _output = output;
// _svIn = new RxValue<UbxNavSvin>().DisposeItWith(Disposable);
// }
//
// [Fact]
// public void ConnectToDevice()
// {
// var msg = new UbxCfgCfg
// {
// ClearMask = UbxCfgSection.All,
// SaveMask = UbxCfgSection.All,
// LoadMask = UbxCfgSection.None,
// DeviceMask = UbxCfgDeviceMask.DevBbr
// };
// var b = new byte[1024];
// var buffer = new Span<byte>(b);
// msg.Serialize(ref buffer);
//
// _device = new UbxDevice("tcp://172.16.0.1:3307").DisposeItWith(Disposable);
// _device.Connection.Filter<UbxNavSvin>().Subscribe(_svIn).DisposeItWith(Disposable);
// _device.SetStationaryMode(false, 1).Wait(CancellationToken.None);
// _device.TurnOffNmea(CancellationToken.None).Wait(CancellationToken.None);
// _device.SetMessageRate<UbxNavSvin>(1).Wait(CancellationToken.None);
// _device.SetMessageRate<UbxNavPvt>(1).Wait(CancellationToken.None);
// _device.SetMessageRate((byte)UbxHelper.ClassIDs.RTCM3, 0x05, 5).Wait(CancellationToken.None);
//
// _device.SetupRtcmMSM4Rate(1,CancellationToken.None).Wait(CancellationToken.None);
// _device.SetupRtcmMSM7Rate(0,default).Wait(CancellationToken.None);
// _device.SetMessageRate((byte)UbxHelper.ClassIDs.RTCM3, 0xE6, 5).Wait(CancellationToken.None);
// _device.SetMessageRate((byte)UbxHelper.ClassIDs.NAV, 0x12, 1).Wait(CancellationToken.None);
// _device.SetMessageRate((byte)UbxHelper.ClassIDs.RXM, 0x15, 1).Wait(CancellationToken.None);
// _device.SetMessageRate((byte)UbxHelper.ClassIDs.RXM, 0x13, 2, default).Wait(CancellationToken.None);
// _device.SetMessageRate((byte)UbxHelper.ClassIDs.MON, 0x09, 2, default).Wait(CancellationToken.None);
//
//
//
// _device.CallCfgSave(CancellationToken.None).Wait(CancellationToken.None);
// _device.Connection
// .Send(new UbxCfgRst { Bbr = BbrMask.ColdStart, Mode = ResetMode.ControlledSoftwareResetGnssOnly },
// CancellationToken.None).Wait(CancellationToken.None);
//
// while (true)
// {
// try
// {
// var value = _device.GetMonHw(CancellationToken.None).Result;
// break;
// }
// catch (UbxDeviceTimeoutException)
// {
// Thread.Sleep(TimeSpan.FromSeconds(1));
// }
// }
// _device.CallCfgLoad(CancellationToken.None).Wait(CancellationToken.None);
//
// var ver = _device.GetMonVer().Result;
// var cfgTMode3 = _device.GetCfgTMode3(CancellationToken.None).Result;
// _isInit = true;
// }
//
// public CompositeDisposable Disposable { get; } = new CompositeDisposable();
// }
}

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