Tools: factor out common library for GSOF

* Add tests too

Signed-off-by: Ryan Friedman <[email protected]>

Tools/ardupilotwaf/ardupilotwaf.py

@@ -31,6 +31,7 @@
     'AP_Compass',
     'AP_Declination',
     'AP_GPS',
+    'AP_GSOF',
     'AP_HAL',
     'AP_HAL_Empty',
     'AP_InertialSensor',

Tools/scripts/run_astyle.py

@@ -23,6 +23,7 @@ def __init__(self, *, dry_run=DRY_RUN_DEFAULT):
         self.directories_to_check = [
             'libraries/AP_DDS',
             'libraries/AP_ExternalControl',
+            'libraries/AP_GSOF',
         ]
         self.files_to_check = [
             pathlib.Path(s) for s in [

libraries/AP_GSOF/tests/README.md

@@ -0,0 +1,24 @@
+# GSOF Tests
+
+A UDP packet of binary GSOF data is attached in the `gsof_data` file.
+
+
+## Questions
+
+* How to split up dependencies on GPS types in parser - do we care?
+
+* Fixing endianness messy code:
+  * Define LE structins in AP_GSOF, do the function to convert the endianness for fields that need it. Takes a list of field to call the swaps.
+  * To determien which field swapping, do an array of field pointers
+  * Could declare it as a union of strucutres, one with native BE, other place that swaps the endianess.
+  * Declare the union in the for loop on msg type
+  * Pull out data_left from "a" in the for loop to check there's enough room. Should be exactly equal.
+  * Tricky - variable-length packets.
+  * Can do the union stuff soon.
+* Can we dump some small binary data in the tests folder of the parser, or should I write it in the code?
+* UDP - much less code to NET_ to use virtual serial ports, treat as UART.
+  * On UDP, it's already packetized, but could use NET API for ethernet only
+  * There will be people that want serial though, serial over CAN
+  * ON UDP, we get configuration on UDP on two ports, multiple sockets.
+  * Could recommend Trimble as networking only
+* Trimble PX1 support.

libraries/AP_GSOF/tests/test_gsof.cpp

@@ -7,20 +7,34 @@
 
 #include <AP_GSOF/AP_GSOF.h>
 
+#include <cstdio>
+#include <cstdlib>
+
 const AP_HAL::HAL &hal = AP_HAL::get_HAL();
 
 
 TEST(AP_GSOF, incomplete_packet)
 {
     AP_GSOF gsof;
-    EXPECT_FALSE(gsof.parse(0));
+    EXPECT_FALSE(gsof.parse(0, 5));
 }
 
 TEST(AP_GSOF, packet1)
 {
-    // 02084072580000010a1e02e0680909009400000218000000000000000000000000000000000000000000000000080d000000000000000000000000000910000000000000000000000000000000000c260000000000000000000000000000000000000000000000000000000000000000000000000000a503
+    FILE* fp = std::fopen("libraries/AP_GSOF/tests/gsof_gps.dat", "rb");
+    EXPECT_NE(fp, nullptr);
     AP_GSOF gsof;
-    EXPECT_FALSE(gsof.parse(0));
+    char c = 0;
+    bool parsed = false;
+    while (c != EOF) {
+        c = fgetc (fp);
+        parsed |= gsof.parse((uint8_t)c, 5);
+    }
+
+    EXPECT_TRUE(parsed);
+
+    fclose(fp);
+
 }
 
 AP_GTEST_MAIN()