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Merged
rustyeddy merged 5 commits into from
Jan 17, 2026
Merged

Add comprehensive test coverage for GTU7 GPS sensor #17

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144c8cb
Initial plan
Copilot Jan 16, 2026
e4a53f7
test: add comprehensive GTU7 test coverage
Copilot Jan 16, 2026
a986372
Final review completed
Copilot Jan 16, 2026
e9bb084
Merge branch 'gtu7' into copilot/sub-pr-16
rustyeddy Jan 17, 2026
15a0e0c
Update sensors/gtu7_test.go
rustyeddy Jan 17, 2026
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227 changes: 227 additions & 0 deletions sensors/gtu7_test.go
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Original file line number Diff line number Diff line change
Expand Up @@ -56,6 +56,233 @@ $GPRMC,160446.00,A,3340.34121,N,11800.11332,W,7.25,123.40,160126,,,A*00
}
}

func TestGTU7_MalformedSentences(t *testing.T) {
tests := []struct {
name string
input string
}{
{
name: "empty lines",
input: `


$GPGGA,160446.00,3340.34121,N,11800.11332,W,2,08,1.20,11.8,M,-33.1,M,,0000*58
`,
},
{
name: "truncated GGA",
input: `
$GPGGA,160446.00,3340
$GPGGA,160446.00,3340.34121,N,11800.11332,W,2,08,1.20,11.8,M,-33.1,M,,0000*58
`,
},
{
name: "invalid sentence type",
input: `
$GPXYZ,160446.00,A,3340.34121,N,11800.11332,W,7.25,123.40,160126,,,A*00
$GPGGA,160446.00,3340.34121,N,11800.11332,W,2,08,1.20,11.8,M,-33.1,M,,0000*58
`,
},
{
name: "missing lat/lon fields",
input: `
$GPGGA,160446.00,,,,,2,08,1.20,11.8,M,-33.1,M,,0000*58
$GPGGA,160446.00,3340.34121,N,11800.11332,W,2,08,1.20,11.8,M,-33.1,M,,0000*58
`,
},
}

for _, tt := range tests {
t.Run(tt.name, func(t *testing.T) {
gps := NewGTU7(GTU7Config{
Reader: strings.NewReader(tt.input),
})

ctx, cancel := context.WithCancel(context.Background())
defer cancel()

done := make(chan error, 1)
go func() { done <- gps.Run(ctx) }()

// Should get at least one valid fix
select {
case fix := <-gps.Out():
require.NotZero(t, fix.Lat)
require.NotZero(t, fix.Lon)
cancel()
case <-time.After(time.Second):
require.FailNow(t, "timeout waiting for valid fix")
}

select {
case err := <-done:
require.NoError(t, err)
case <-time.After(time.Second):
require.FailNow(t, "run did not exit")
}
})
}
}

func TestGTU7_GGAOnly(t *testing.T) {
input := `
$GPGGA,123519.00,4807.038,N,01131.000,E,1,08,0.9,545.4,M,46.9,M,,*47
`

gps := NewGTU7(GTU7Config{
Reader: strings.NewReader(input),
})

ctx, cancel := context.WithCancel(context.Background())
defer cancel()

done := make(chan error, 1)
go func() { done <- gps.Run(ctx) }()

select {
case fix := <-gps.Out():
cancel()
// Verify GGA fields
require.InDelta(t, 48.1173, fix.Lat, 0.0001)
require.InDelta(t, 11.5167, fix.Lon, 0.0001)
require.InDelta(t, 545.4, fix.AltMeters, 1e-6)
require.InDelta(t, 0.9, fix.HDOP, 1e-6)
require.Equal(t, 8, fix.Satellites)
require.Equal(t, 1, fix.Quality)
// Speed/course should be zero/unset
require.Zero(t, fix.SpeedKnots)
require.Zero(t, fix.SpeedMPS)
require.Zero(t, fix.CourseDeg)
case <-time.After(time.Second):
require.FailNow(t, "timeout waiting for GGA fix")
}

select {
case err := <-done:
require.NoError(t, err)
case <-time.After(time.Second):
require.FailNow(t, "run did not exit")
}
}

func TestGTU7_ContextCancellation(t *testing.T) {
// Test that context cancellation is checked between sentences
input := `$GPGGA,160446.00,3340.34121,N,11800.11332,W,2,08,1.20,11.8,M,-33.1,M,,0000*58
$GPGGA,160447.00,3340.34122,N,11800.11333,W,2,08,1.20,11.8,M,-33.1,M,,0000*58
`

gps := NewGTU7(GTU7Config{
Reader: strings.NewReader(input),
})

ctx, cancel := context.WithCancel(context.Background())
done := make(chan error, 1)
go func() { done <- gps.Run(ctx) }()

// Wait for first fix
select {
case <-gps.Out():
case <-time.After(time.Second):
require.FailNow(t, "timeout waiting for first fix")
}

// Cancel context before second fix can be processed
cancel()

// Run should exit cleanly after processing completes
select {
case err := <-done:
require.NoError(t, err)
case <-time.After(time.Second):
require.FailNow(t, "run did not exit after cancellation")
}

// Drain any remaining messages and verify channel closes
for range gps.Out() {
// drain
}
}

func TestGTU7_MultiConstellationVariants(t *testing.T) {
tests := []struct {
name string
input string
wantLat float64
wantLon float64
wantAlt float64
wantSats int
}{
{
name: "GNGGA - multi-constellation",
input: "$GNGGA,123519.00,4807.038,N,01131.000,E,1,12,0.9,545.4,M,46.9,M,,*4E\n",
wantLat: 48.1173,
wantLon: 11.5167,
wantAlt: 545.4,
wantSats: 12,
},
{
name: "GNRMC - multi-constellation",
input: "$GNRMC,123519.00,A,4807.038,N,01131.000,E,5.5,123.4,230394,,,A*57\n",
wantLat: 48.1173,
wantLon: 11.5167,
},
{
name: "GNVTG with GPGGA - multi-constellation",
input: "$GNVTG,54.7,T,,M,5.5,N,10.2,K,A*2F\n$GPGGA,123519.00,4807.038,N,01131.000,E,1,08,0.9,545.4,M,46.9,M,,*47\n",
wantLat: 48.1173,
wantLon: 11.5167,
},
}

for _, tt := range tests {
t.Run(tt.name, func(t *testing.T) {
gps := NewGTU7(GTU7Config{
Reader: strings.NewReader(tt.input),
})

ctx, cancel := context.WithCancel(context.Background())
defer cancel()

done := make(chan error, 1)
go func() { done <- gps.Run(ctx) }()

// Drain any intermediate fixes
var lastFix GPSFix
timeout := time.After(time.Second)
loop:
for {
select {
case fix, ok := <-gps.Out():
if !ok {
break loop
}
lastFix = fix
case <-timeout:
break loop
}
}

cancel()

// Verify we got data
require.NotZero(t, lastFix.Lat, "should have received at least one fix")
require.InDelta(t, tt.wantLat, lastFix.Lat, 0.0001)
require.InDelta(t, tt.wantLon, lastFix.Lon, 0.0001)
if tt.wantAlt != 0 {
require.InDelta(t, tt.wantAlt, lastFix.AltMeters, 1e-6)
}
if tt.wantSats != 0 {
require.Equal(t, tt.wantSats, lastFix.Satellites)
}

select {
case err := <-done:
require.NoError(t, err)
case <-time.After(time.Second):
require.FailNow(t, "run did not exit")
}
})
}
Comment thread
rustyeddy marked this conversation as resolved.
func TestGTU7_BufferSize(t *testing.T) {
t.Run("default buffer size is 16", func(t *testing.T) {
gps := NewGTU7(GTU7Config{
Expand Down