diff options
Diffstat (limited to 'test-runner/src/test')
3 files changed, 286 insertions, 0 deletions
diff --git a/test-runner/src/test/kotlin/org/terst/nav/ais/AisVesselTest.kt b/test-runner/src/test/kotlin/org/terst/nav/ais/AisVesselTest.kt new file mode 100644 index 0000000..a583a32 --- /dev/null +++ b/test-runner/src/test/kotlin/org/terst/nav/ais/AisVesselTest.kt @@ -0,0 +1,53 @@ +package org.terst.nav.ais + +import org.junit.Assert.* +import org.junit.Test + +class AisVesselTest { + + @Test + fun `holds all fields correctly`() { + val vessel = AisVessel( + mmsi = 123456789, + name = "MY VESSEL", + callsign = "W1ABC", + lat = 37.5, + lon = -122.0, + sog = 5.5, + cog = 270.0, + heading = 269, + vesselType = 36, + timestampMs = 1000L + ) + assertEquals(123456789, vessel.mmsi) + assertEquals("MY VESSEL", vessel.name) + assertEquals("W1ABC", vessel.callsign) + assertEquals(37.5, vessel.lat, 0.0) + assertEquals(-122.0, vessel.lon, 0.0) + assertEquals(5.5, vessel.sog, 0.0) + assertEquals(270.0, vessel.cog, 0.0) + assertEquals(269, vessel.heading) + assertEquals(36, vessel.vesselType) + assertEquals(1000L, vessel.timestampMs) + } + + @Test + fun `equality based on all fields`() { + val v1 = AisVessel(1, "A", "B", 0.0, 0.0, 0.0, 0.0, 0, 0, 100L) + val v2 = AisVessel(1, "A", "B", 0.0, 0.0, 0.0, 0.0, 0, 0, 100L) + assertEquals(v1, v2) + } + + @Test + fun `inequality when mmsi differs`() { + val v1 = AisVessel(1, "A", "B", 0.0, 0.0, 0.0, 0.0, 0, 0, 100L) + val v2 = AisVessel(2, "A", "B", 0.0, 0.0, 0.0, 0.0, 0, 0, 100L) + assertNotEquals(v1, v2) + } + + @Test + fun `heading 511 means not available`() { + val vessel = AisVessel(1, "", "", 0.0, 0.0, 0.0, 0.0, 511, 0, 0L) + assertEquals(511, vessel.heading) + } +}
\ No newline at end of file diff --git a/test-runner/src/test/kotlin/org/terst/nav/ais/CpaCalculatorTest.kt b/test-runner/src/test/kotlin/org/terst/nav/ais/CpaCalculatorTest.kt new file mode 100644 index 0000000..9baddb2 --- /dev/null +++ b/test-runner/src/test/kotlin/org/terst/nav/ais/CpaCalculatorTest.kt @@ -0,0 +1,53 @@ +package org.terst.nav.ais + +import org.junit.Assert.* +import org.junit.Test +import kotlin.math.abs + +class CpaCalculatorTest { + + private val eps = 0.01 + + @Test + fun `head-on vessels converging - TCPA around 0_25 min CPA near zero`() { + val tgtLat = 0.0833 / 60.0 + val (cpa, tcpa) = CpaCalculator.compute( + ownLat = 0.0, ownLon = 0.0, ownSog = 10.0, ownCog = 0.0, + tgtLat = tgtLat, tgtLon = 0.0, tgtSog = 10.0, tgtCog = 180.0 + ) + assertTrue("TCPA should be positive (converging): $tcpa", tcpa > 0.0) + assertTrue("TCPA should be ~0.25 min, got $tcpa", abs(tcpa - 0.25) < eps) + assertTrue("CPA should be near zero for head-on, got $cpa", cpa < 0.01) + } + + @Test + fun `diverging vessels - same direction target ahead - TCPA negative`() { + val tgtLat = 1.0 / 60.0 + val (_, tcpa) = CpaCalculator.compute( + ownLat = 0.0, ownLon = 0.0, ownSog = 5.0, ownCog = 0.0, + tgtLat = tgtLat, tgtLon = 0.0, tgtSog = 10.0, tgtCog = 0.0 + ) + assertTrue("TCPA should be negative (diverging), got $tcpa", tcpa < 0.0) + } + + @Test + fun `zero relative velocity returns current distance and TCPA zero`() { + val tgtLat = 1.0 / 60.0 + val (cpa, tcpa) = CpaCalculator.compute( + ownLat = 0.0, ownLon = 0.0, ownSog = 5.0, ownCog = 90.0, + tgtLat = tgtLat, tgtLon = 0.0, tgtSog = 5.0, tgtCog = 90.0 + ) + assertEquals(0.0, tcpa, 1e-9) + assertTrue("CPA should be ~1 nm (current dist), got $cpa", abs(cpa - 1.0) < 0.01) + } + + @Test + fun `both at same position zero relative velocity - zero distance`() { + val (cpa, tcpa) = CpaCalculator.compute( + ownLat = 37.0, ownLon = -122.0, ownSog = 5.0, ownCog = 0.0, + tgtLat = 37.0, tgtLon = -122.0, tgtSog = 5.0, tgtCog = 0.0 + ) + assertEquals(0.0, tcpa, 1e-9) + assertEquals(0.0, cpa, 1e-6) + } +} diff --git a/test-runner/src/test/kotlin/org/terst/nav/nmea/AisVdmParserTest.kt b/test-runner/src/test/kotlin/org/terst/nav/nmea/AisVdmParserTest.kt new file mode 100644 index 0000000..481c89e --- /dev/null +++ b/test-runner/src/test/kotlin/org/terst/nav/nmea/AisVdmParserTest.kt @@ -0,0 +1,180 @@ +package org.terst.nav.nmea + +import org.junit.Assert.* +import org.junit.Test +import kotlin.math.abs + +private fun encodeBits(bits: IntArray): String { + val padded = if (bits.size % 6 == 0) bits else bits + IntArray(6 - bits.size % 6) + val sb = StringBuilder() + var i = 0 + while (i < padded.size) { + var v = 0 + for (b in 0 until 6) v = (v shl 1) or padded[i + b] + val c = if (v <= 39) v + 48 else v + 56 + sb.append(c.toChar()) + i += 6 + } + return sb.toString() +} + +private fun intToBits(value: Int, len: Int): IntArray { + val arr = IntArray(len) + for (i in 0 until len) arr[i] = (value ushr (len - 1 - i)) and 1 + return arr +} + +private fun signedToBits(value: Int, len: Int): IntArray { + val mask = if (len < 32) (1 shl len) - 1 else -1 + return intToBits(value and mask, len) +} + +private fun buildType1Payload( + mmsi: Int, sog10: Int, lon600000: Int, lat600000: Int, cog10: Int, heading: Int +): String { + val bits = IntArray(168) + fun set(start: Int, arr: IntArray) { arr.copyInto(bits, start) } + set(0, intToBits(1, 6)) + set(6, intToBits(0, 2)) + set(8, intToBits(mmsi, 30)) + set(38, intToBits(0, 12)) + set(50, intToBits(sog10, 10)) + set(60, intToBits(0, 1)) + set(61, signedToBits(lon600000, 28)) + set(89, signedToBits(lat600000, 27)) + set(116, intToBits(cog10, 12)) + set(128, intToBits(heading, 9)) + return encodeBits(bits) +} + +private fun buildType5Payload(mmsi: Int, callsign: String, name: String, vesselType: Int): String { + val bits = IntArray(426) + fun set(start: Int, arr: IntArray) { arr.copyInto(bits, start) } + set(0, intToBits(5, 6)) + set(6, intToBits(0, 2)) + set(8, intToBits(mmsi, 30)) + set(38, intToBits(0, 2)) + set(40, intToBits(0, 30)) + val csFixed = callsign.padEnd(7, '@').take(7) + for (i in 0 until 7) { + val c = csFixed[i].code + val v = if (c >= 64) c - 64 else c + set(70 + i * 6, intToBits(v, 6)) + } + val nameFixed = name.padEnd(20, '@').take(20) + for (i in 0 until 20) { + val c = nameFixed[i].code + val v = if (c >= 64) c - 64 else c + set(112 + i * 6, intToBits(v, 6)) + } + set(232, intToBits(vesselType, 8)) + return encodeBits(bits) +} + +private fun nmea0183Checksum(body: String): String { + var xor = 0 + for (c in body) xor = xor xor c.code + return xor.toString(16).uppercase().padStart(2, '0') +} + +private fun makeVdm(payload: String, padding: Int = 0): String { + val body = "AIVDM,1,1,,A,$payload,$padding" + return "!$body*${nmea0183Checksum(body)}" +} + +private fun makeVdmPart(count: Int, seq: Int, seqId: String, payload: String, padding: Int = 0): String { + val body = "AIVDM,$count,$seq,$seqId,A,$payload,$padding" + return "!$body*${nmea0183Checksum(body)}" +} + +class AisVdmParserTest { + + private val parser = AisVdmParser() + + @Test + fun `non-AIS NMEA sentence returns null`() { + assertNull(parser.parse("\$GPRMC,123519,A,4807.038,N,01131.000,E,022.4,084.4,230394,003.1,W*6A")) + } + + @Test + fun `malformed sentence returns null`() { + assertNull(parser.parse("garbage")) + assertNull(parser.parse("!AIVDM,1,1,,A,")) + assertNull(parser.parse("")) + } + + @Test + fun `type-1 round-trip - known MMSI lat lon sog cog heading`() { + val mmsi = 123456789 + val sog10 = 50 + val lon600000 = (-122.0 * 600000.0).toInt() + val lat600000 = (37.0 * 600000.0).toInt() + val cog10 = 2700 + val heading = 270 + + val payload = buildType1Payload(mmsi, sog10, lon600000, lat600000, cog10, heading) + val vessel = parser.parse(makeVdm(payload)) + + assertNotNull(vessel) + assertEquals(mmsi, vessel!!.mmsi) + assertEquals(5.0, vessel.sog, 0.01) + assertEquals(-122.0, vessel.lon, 0.001) + assertEquals(37.0, vessel.lat, 0.001) + assertEquals(270.0, vessel.cog, 0.1) + assertEquals(270, vessel.heading) + assertEquals("", vessel.name) + assertEquals("", vessel.callsign) + assertEquals(0, vessel.vesselType) + } + + @Test + fun `type-1 real sentence - MMSI 227006760`() { + val vessel = parser.parse("!AIVDM,1,1,,A,13HOI:0P0000vocH;`5HF>0<0000,0*54") + assertNotNull(vessel) + assertEquals(227006760, vessel!!.mmsi) + } + + @Test + fun `type-5 round-trip - name and callsign decoded and trimmed`() { + val mmsi = 987654321 + val payload = buildType5Payload(mmsi, "W1ABC", "MY VESSEL NAME", vesselType = 36) + val vessel = parser.parse(makeVdm(payload)) + + assertNotNull(vessel) + assertEquals(mmsi, vessel!!.mmsi) + assertEquals("W1ABC", vessel.callsign) + assertEquals("MY VESSEL NAME", vessel.name) + assertEquals(36, vessel.vesselType) + assertEquals(0.0, vessel.lat, 0.0) + assertEquals(0.0, vessel.lon, 0.0) + assertEquals(511, vessel.heading) + } + + @Test + fun `two-part message reassembly`() { + val mmsi = 111222333 + val payload = buildType1Payload(mmsi, 100, 0, 0, 900, 511) + val half = payload.length / 2 + val s1 = makeVdmPart(2, 1, "1", payload.substring(0, half), 0) + val s2 = makeVdmPart(2, 2, "1", payload.substring(half), 0) + + assertNull(parser.parse(s1)) + val vessel = parser.parse(s2) + assertNotNull(vessel) + assertEquals(mmsi, vessel!!.mmsi) + } + + @Test + fun `SOG not available value 1023 decodes to 0_0`() { + val vessel = parser.parse(makeVdm(buildType1Payload(111000111, 1023, 0, 0, 0, 511))) + assertNotNull(vessel) + assertEquals(0.0, vessel!!.sog, 0.0) + } + + @Test + fun `COG not available value 3600 decodes to 0_0`() { + val vessel = parser.parse(makeVdm(buildType1Payload(111000222, 0, 0, 0, 3600, 511))) + assertNotNull(vessel) + assertEquals(0.0, vessel!!.cog, 0.0) + } +}
\ No newline at end of file |