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fix: position not updated when fix is lost #5565

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merged 5 commits into from
Nov 15, 2024
Merged

fix: position not updated when fix is lost #5565

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c6ac871
fix: position not updated when fix is lost
sfiorani Nov 14, 2024
7eca7d5
refactor: refactored conditions to parse data
sfiorani Nov 14, 2024
c477991
fix: small issues and test coverage
sfiorani Nov 15, 2024
c088b2f
Merge branch 'develop' into fix-location-missing-data
sfiorani Nov 15, 2024
bddd1d1
fix: reduced method complexity
sfiorani Nov 15, 2024
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132 changes: 86 additions & 46 deletions kura/org.eclipse.kura.nm/src/main/java/org/eclipse/kura/nm/position/MMLocationParser.java
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Original file line number Diff line number Diff line change
Expand Up @@ -16,6 +16,7 @@
import java.time.LocalDate;
import java.time.LocalDateTime;
import java.time.LocalTime;
import java.time.ZoneOffset;
import java.time.format.DateTimeFormatter;
import java.util.Arrays;
import java.util.HashSet;
Expand Down Expand Up @@ -66,7 +67,11 @@ public class MMLocationParser {
private Boolean isFix = false;

public LocalDateTime getLocalDateTime() {
return Objects.requireNonNull(LocalDateTime.of(date, time));
if (!Objects.isNull(this.time) && !Objects.isNull(this.date)) {
return LocalDateTime.of(date, time);
}

return null;
}

/*
Expand Down Expand Up @@ -102,6 +107,25 @@ public String getNmeaDate() {
return this.date.toString();
}

/*
* Used by MMPositionProvider to invalidate position in case ModemManager doesn't provide any data, neither the nmea
* nor the raw. Usually, the Nmea data is always provided, while the Raw is provided only if Nmea has fix.
*/

public void setInvalidFix() {
this.isFix = false;

this.latitudeDegrees = 0.0;
this.longitudeDegrees = 0.0;
this.altitudeMeters = 0.0;
this.speedMetersPerSecond = 0.0;
this.trackDegrees = 0.0;

LocalDateTime utcDateTime = LocalDateTime.now(ZoneOffset.UTC);
this.time = utcDateTime.toLocalTime();
this.date = utcDateTime.toLocalDate();
}

public void parseRawLocation(Variant<?> rawLocationVariant) {
Map<String, Variant<?>> locationData = (Map<String, Variant<?>>) rawLocationVariant.getValue();
for (Map.Entry<String, Variant<?>> rawEntry : locationData.entrySet()) {
Expand Down Expand Up @@ -176,67 +200,83 @@ public void parseNmeaLocation(Variant<?> nmeaLocationVariant) {
}

private void parseGgaSentence(List<String> gsaTokens) {
if (!gsaTokens.get(7).isEmpty()) {
this.nrSatellites = Integer.parseInt(gsaTokens.get(7));
}
if (!gsaTokens.get(8).isEmpty()) {
this.mDOP = Double.parseDouble(gsaTokens.get(8));
if (gsaTokens.size() > 9) {
if (!gsaTokens.get(7).isEmpty()) {
this.nrSatellites = Integer.parseInt(gsaTokens.get(7));
}
if (!gsaTokens.get(8).isEmpty()) {
this.mDOP = Double.parseDouble(gsaTokens.get(8));
}
} else {
setInvalidFix();
}
}

private void parseGsaSentence(List<String> gsaTokens) {

if (!gsaTokens.get(2).isEmpty()) {
if (gsaTokens.size() > 5) {
if (!gsaTokens.get(2).isEmpty()) {

int fixType = Integer.parseInt(gsaTokens.get(2));
this.fixQuality = fixType;
if (fixType == 2 || fixType == 3) {
this.isFix = true;
} else {
this.isFix = false;
int fixType = Integer.parseInt(gsaTokens.get(2));
this.fixQuality = fixType;
if (fixType == 2 || fixType == 3) {
this.isFix = true;
} else {
this.isFix = false;
}
}
}

if (!gsaTokens.get(15).isEmpty()) {
this.mPDOP = Double.parseDouble(gsaTokens.get(15));
}
if (!gsaTokens.get(16).isEmpty()) {
this.mHDOP = Double.parseDouble(gsaTokens.get(16));
}
if (!gsaTokens.get(17).isEmpty()) {
this.mVDOP = Double.parseDouble(gsaTokens.get(17));
if (!gsaTokens.get(15).isEmpty()) {
this.mPDOP = Double.parseDouble(gsaTokens.get(15));
}
if (!gsaTokens.get(16).isEmpty()) {
this.mHDOP = Double.parseDouble(gsaTokens.get(16));
}
if (!gsaTokens.get(17).isEmpty()) {
this.mVDOP = Double.parseDouble(gsaTokens.get(17));
}
} else {
setInvalidFix();
}
}

/*
* Date is received in format dd-M-yy, so we convert it to yy-M-dd
*/
private void parseRmcSentence(List<String> rmcTokens) {
if (!rmcTokens.get(9).isEmpty()) {
this.date = LocalDate.parse(rmcTokens.get(9), DateTimeFormatter.ofPattern("ddMyy"));
}
if (!rmcTokens.get(7).isEmpty()) {
this.speedMetersPerSecond = Double.parseDouble(rmcTokens.get(7)) * KNOTS_TO_MS;
}
if (!rmcTokens.get(8).isEmpty()) {
this.trackDegrees = Double.parseDouble(rmcTokens.get(8));
}
if (!rmcTokens.get(4).isEmpty()) {
this.latitudeHemisphere = rmcTokens.get(4).charAt(0);
}
if (!rmcTokens.get(6).isEmpty()) {
this.longitudeHemisphere = rmcTokens.get(6).charAt(0);
}
if (!rmcTokens.get(2).isEmpty()) { // check validity
this.validFix = rmcTokens.get(2).charAt(0);
if (!"A".equals(rmcTokens.get(2))) {
this.isFix = false;
if (rmcTokens.size() > 9) {
if (!rmcTokens.get(9).isEmpty()) {
this.date = LocalDate.parse(rmcTokens.get(9), DateTimeFormatter.ofPattern("ddMyy"));
}
if (!rmcTokens.get(7).isEmpty()) {
this.speedMetersPerSecond = Double.parseDouble(rmcTokens.get(7)) * KNOTS_TO_MS;
}
if (!rmcTokens.get(8).isEmpty()) {
this.trackDegrees = Double.parseDouble(rmcTokens.get(8));
}
if (!rmcTokens.get(4).isEmpty()) {
this.latitudeHemisphere = rmcTokens.get(4).charAt(0);
}
if (!rmcTokens.get(6).isEmpty()) {
this.longitudeHemisphere = rmcTokens.get(6).charAt(0);
}
if (!rmcTokens.get(2).isEmpty()) { // check validity
parseRmcFixValidity(rmcTokens.get(2));
} else {
this.isFix = true;
this.validFix = 'V';
this.isFix = false;
}
} else {
this.validFix = 'V';
setInvalidFix();
}
}

private void parseRmcFixValidity(String validityToken) {
this.validFix = validityToken.charAt(0);
if (!"A".equals(validityToken)) {
this.isFix = false;
} else {
this.isFix = true;
}
}

Expand Down Expand Up @@ -293,8 +333,8 @@ private GNSSType sentenceIdToGnssType(String type) {

@Override
public String toString() {
return "ModemManagerProvider [latitude=" + latitudeDegrees + ", longitude=" + longitudeDegrees + ", altitude="
+ altitudeMeters + ", speed=" + speedMetersPerSecond + ", timestamp=" + time + ", date=" + date
+ ", gnssType=" + gnssTypes + "]";
return "ModemManagerProvider [isFix=" + isFix + ", latitude=" + latitudeDegrees + ", longitude="
+ longitudeDegrees + ", altitude=" + altitudeMeters + ", speed=" + speedMetersPerSecond + ", timestamp="
+ time + ", date=" + date + ", gnssType=" + gnssTypes + "]";
}
}
19 changes: 14 additions & 5 deletions kura/org.eclipse.kura.nm/src/main/java/org/eclipse/kura/nm/position/MMPositionProvider.java
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Original file line number Diff line number Diff line change
Expand Up @@ -16,6 +16,7 @@
import java.time.LocalDateTime;
import java.util.List;
import java.util.Map;
import java.util.Optional;
import java.util.Set;
import java.util.concurrent.Executors;
import java.util.concurrent.ScheduledExecutorService;
Expand Down Expand Up @@ -151,12 +152,20 @@ private void getModemManagerLocation() {

for (Location location : availableLocations) {
Map<UInt32, Variant<?>> locationMap = location.GetLocation();
if (locationMap.containsKey(NMEA_LOCATION_SOURCE) && locationMap.containsKey(RAW_LOCATION_SOURCE)) {
Variant<?> nmeaData = locationMap.get(NMEA_LOCATION_SOURCE);
this.mmLocationParser.parseNmeaLocation(nmeaData);
Optional<Variant<?>> nmeaData = locationMap.containsKey(NMEA_LOCATION_SOURCE)
? Optional.of(locationMap.get(NMEA_LOCATION_SOURCE))
: Optional.empty();

Variant<?> rawData = locationMap.get(RAW_LOCATION_SOURCE);
this.mmLocationParser.parseRawLocation(rawData);
Optional<Variant<?>> rawData = locationMap.containsKey(RAW_LOCATION_SOURCE)
? Optional.of(locationMap.get(RAW_LOCATION_SOURCE))
: Optional.empty();

if (!nmeaData.isPresent() && !rawData.isPresent()) {
this.mmLocationParser.setInvalidFix();
} else if (nmeaData.isPresent()) {
this.mmLocationParser.parseNmeaLocation(nmeaData.get());

rawData.ifPresent(this.mmLocationParser::parseRawLocation);
}
}

Expand Down
90 changes: 83 additions & 7 deletions ...lipse.kura.nm.test/src/test/java/org/eclipse/kura/nm/position/MMPositionProviderTest.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -14,6 +14,7 @@
package org.eclipse.kura.nm.position;

import static org.junit.Assert.assertEquals;
import static org.junit.Assert.assertNull;
import static org.mockito.Mockito.mock;
import static org.mockito.Mockito.when;

Expand Down Expand Up @@ -42,20 +43,49 @@ public class MMPositionProviderTest {
NMDbusConnector mockNmDbusConnector;
Position retrievedPosition;
LocalDateTime retrieveDateTime;
Boolean isFix;

Exception unexpectedException;

@Test
public void shouldRetrieveCorrectPosition() throws InterruptedException {

givenModemManagerFakeLocation(39.5, 9.7, 4.5);
givenPositionProviderWithMockDbusConnector();
givenProviderInitAndStart();
givenProviderInitAndStartWithRefreshRate(1);

whenServiceAskForPosition();
whenServiceAsksForPosition();

thenNoExceptionThrown();
thenPositionIsFixed(true);
thenPositionIsCorrect(39.5, 9.7, 4.5, 0, 10.2);
thenDateTimeIsCorrect("2024-10-29T10:33:55");
}

@Test
public void shouldNotReportPositionWithInvalidRefreshRate() throws InterruptedException {
givenModemManagerFakeLocation(39.5, 9.7, 4.5);
givenPositionProviderWithMockDbusConnector();
givenProviderInitAndStartWithRefreshRate(-1);

whenServiceAsksForFix();

thenNoExceptionThrown();
thenPositionIsFixed(false);
}

@Test
public void shouldNotReportPositionWithoutNmeaData() throws InterruptedException {
givenModemManagerWithNoFix();
givenPositionProviderWithMockDbusConnector();
givenProviderInitAndStartWithRefreshRate(1);

whenServiceAsksForFix();

thenNoExceptionThrown();
thenPositionIsFixed(false);
}

/*
* The return location is a gps point in Rome retrieved with {@link https://nmeagen.org/}
*/
Expand Down Expand Up @@ -88,23 +118,65 @@ private void givenModemManagerFakeLocation(double lat, double lon, double alt) {
this.mockNmDbusConnector = dbusConnector;
}

private void givenModemManagerWithNoFix() {

Scanner scanner = new Scanner(MMPositionProviderTest.class.getResourceAsStream("/noFixNmeaSentences.txt"),
"UTF-8");
CharSequence locationString = scanner.useDelimiter("\\A").next().replace(" ", "");
scanner.close();

Location mockLocation = mock(Location.class);
Map<UInt32, Variant<?>> variantMap = new HashMap<>();
variantMap.put(new UInt32(MMModemLocationSource.MM_MODEM_LOCATION_SOURCE_GPS_NMEA.getValue()),
new Variant<>(locationString));

when(mockLocation.GetLocation()).thenReturn(variantMap);

NMDbusConnector dbusConnector = mock(NMDbusConnector.class);
when(dbusConnector.getAvailableMMLocations()).thenReturn(Arrays.asList(mockLocation));

this.mockNmDbusConnector = dbusConnector;
}

private void givenPositionProviderWithMockDbusConnector() {
this.provider = new MMPositionProvider(this.mockNmDbusConnector);
}

private void givenProviderInitAndStart() {
private void givenProviderInitAndStartWithRefreshRate(int refreshRate) {
Map<String, Object> properties = new HashMap<>();
properties.put("modem.manager.refresh.rate.seconds", 1);
properties.put("modem.manager.refresh.rate.seconds", refreshRate);
PositionServiceOptions options = new PositionServiceOptions(properties);

this.provider.init(options, mock(LockStatusListener.class), mock(GpsDeviceAvailabilityListener.class));
this.provider.start();
}

private void whenServiceAskForPosition() throws InterruptedException {
private void whenServiceAsksForPosition() throws InterruptedException {
Thread.sleep(3000);
this.retrievedPosition = this.provider.getPosition();
this.retrieveDateTime = this.provider.getDateTime();

try {
this.isFix = this.provider.isLocked();
this.retrievedPosition = this.provider.getPosition();
this.retrieveDateTime = this.provider.getDateTime();
} catch (Exception ex) {
this.unexpectedException = ex;
}

}

private void whenServiceAsksForFix() throws InterruptedException {
Thread.sleep(3000);

try {
this.isFix = this.provider.isLocked();
} catch (Exception ex) {
this.unexpectedException = ex;
}

}

private void thenNoExceptionThrown() {
assertNull(this.unexpectedException);
}

private void thenPositionIsCorrect(double lat, double lon, double alt, double speed, double track) {
Expand All @@ -119,4 +191,8 @@ private void thenDateTimeIsCorrect(String expectedDateTime) {
assertEquals(expectedDateTime, this.retrieveDateTime.toString());
}

private void thenPositionIsFixed(boolean fixValue) {
assertEquals(fixValue, this.isFix);
}

}
15 changes: 15 additions & 0 deletions kura/test/org.eclipse.kura.nm.test/src/test/resources/noFixNmeaSentences.txt
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Original file line number Diff line number Diff line change
@@ -0,0 +1,15 @@
$GPGSA,A,1,,,,,,,,,,,,,,,,*32

$GPRMC,,V,,,,,,,,,,N,V*29

$GPGSV,4,1,13,05,49,296,25,07,47,056,40,09,17,099,12,11,13,226,22,1*6A

$GPGSV,4,2,13,13,33,285,40,14,29,157,29,15,01,291,26,20,59,233,23,1*69

$GPGSV,4,3,13,30,83,075,41,08,02,064,,18,02,336,,22,12,171,,1*6F

$GPGSV,4,4,13,27,00,035,,1*55

$GPVTG,,T,,M,,N,,K,N*2C

$GPGGA,,,,,,0,,,,,,,,*66
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