test: add tests for position correction

test/AISTask_test.rb

@@ -1,6 +1,7 @@
 # frozen_string_literal: true
 
 using_task_library "nmea0183"
+using_task_library "ais_base"
 
 describe OroGen.nmea0183.AISTask do
     run_live
@@ -11,6 +12,11 @@
         @task = syskit_deploy(
             OroGen.nmea0183.AISTask.deployed_as("ais_task")
         )
+        @task.properties.utm_configuration = Types.gps_base.UTMConversionParameters.new(
+            nwu_origin: Eigen::Vector3.new(0, 0, 0),
+            utm_zone: 11,
+            utm_north: true
+        )
 
         # This complicated setup works around that data readers and writers
         # in Syskit connect themselves only when their target tasks are running
@@ -155,6 +161,33 @@
         assert_equal 0, stats.ignored_messages
     end
 
+    it "corrects vessel's coordinates to be in the world frame if " \
+       "corresponding VesselInformation exists" do
+        msg05 = "!AIVDM,2,1,,B,55MgK40000000000003wwwwww4000000000000000010000" \
+                "Ht0000000,0*49\r\n!AIVDM,2,2,,B,000000000000008,2*1F\r\n"
+
+        msg01 = "!AIVDM,1,1,,B,15MgK4?P1cGJch0Igth3Q?wh0000,0*0F\r\n"
+
+        info, _, _ = expect_execution do
+            syskit_write @io.out_port, make_packet(msg05)
+        end.to do
+            [have_one_new_sample(task.vessels_information_port),
+            have_one_new_sample(task.voyages_information_port),
+            have_one_new_sample(task.ais_stats_port)]
+        end
+
+        position, stats = expect_execution do
+            syskit_write @io.out_port, make_packet(msg01)
+        end.to do
+            [have_one_new_sample(task.positions_port),
+             have_one_new_sample(task.ais_stats_port)]
+        end
+
+        assert_equal 366_730_000, position.mmsi
+        assert_in_delta 44.9999 * Math::PI / 180, position.latitude.rad, 1e-4
+        assert_in_delta -120 * Math::PI / 180, position.longitude.rad, 1e-4
+    end
+
     def make_packet(sentence)
         Types.iodrivers_base.RawPacket.new(
             time: Time.now,