From dc713149918c980f23bc9405b8ffe7502d5f515e Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期六, 29 十一月 2025 18:57:26 +0800
Subject: [PATCH] IM23数据解析成功，但是硬件仿真有问题，在解决。
---
python/tests_hitl/test_protocols.py | 58 +++++++++++++++++++++++++++++++++++-----------------------
1 files changed, 35 insertions(+), 23 deletions(-)
diff --git a/python/tests_hitl/test_protocols.py b/python/tests_hitl/test_protocols.py
index fbe57cf..c87128b 100644
--- a/python/tests_hitl/test_protocols.py
+++ b/python/tests_hitl/test_protocols.py
@@ -6,16 +6,15 @@
from hitl import protocols
-def _calc_checksum(sentence: str) -> str:
- cs = 0
- for ch in sentence[1:]:
- cs ^= ord(ch)
- return f"{cs:02X}"
+def _checksum_matches(frame: bytes) -> bool:
+ calc = sum(frame[:-4]) & 0xFFFF
+ stored = struct.unpack("<H", frame[-4:-2])[0]
+ return calc == stored
-def test_build_gprmi_sentence_format():
+def test_build_im23a_nav_frame_format():
ts = datetime(2025, 11, 21, 8, 1, 12, tzinfo=timezone.utc)
- sentence = protocols.build_gprmi_sentence(
+ frame = protocols.build_im23a_nav_frame(
timestamp=ts,
lat_deg=39.8301751,
lon_deg=116.2781268,
@@ -26,30 +25,43 @@
heading_deg=123.4,
pitch_deg=1.2,
roll_deg=-0.6,
- ).decode("ascii")
+ accel_bias=(0.0, 0.0, 0.0),
+ gyro_bias=(0.0, 0.0, 0.0),
+ temperature_c=29.5,
+ status_flags=4,
+ )
- assert sentence.startswith("$GPFMI,")
- assert sentence.endswith("\r\n")
- body, checksum = sentence.strip()[0:sentence.index("*")], sentence[sentence.index("*") + 1 : sentence.index("*") + 3]
- assert checksum == _calc_checksum(body)
- fields = body.split(",")
- assert len(fields) == 24 # $GPRMI + 23 涓瓧娈�
+ assert frame.startswith(b"fmin")
+ assert frame.endswith(b"ed")
+ assert len(frame) == protocols.IM23A_NAV_LEN
+ assert _checksum_matches(frame)
+
+ # 瑙ｇ爜閮ㄥ垎瀛楁楠岃瘉椤哄簭
+ ts_val = struct.unpack("<d", frame[4:12])[0]
+ assert ts_val == pytest.approx(8 * 3600 + 1 * 60 + 12, rel=1e-6)
+ lat = struct.unpack("<d", frame[12:20])[0]
+ lon = struct.unpack("<d", frame[20:28])[0]
+ assert lat == pytest.approx(39.8301751)
+ assert lon == pytest.approx(116.2781268)
-def test_build_gpimu_sentence_format():
+def test_build_im23a_imu_frame_format():
ts = datetime(2025, 11, 21, 8, 1, 12, tzinfo=timezone.utc)
- sentence = protocols.build_gpimu_sentence(
+ frame = protocols.build_im23a_imu_frame(
timestamp=ts,
accel_g=(0.01, -0.02, -0.99),
gyro_deg_s=(0.1, 0.2, -0.3),
- temperature_c=29.5,
- ).decode("ascii")
+ )
- assert sentence.startswith("$GPIMU,")
- body = sentence.strip()[0:sentence.index("*")]
- checksum = sentence[sentence.index("*") + 1 : sentence.index("*") + 3]
- assert checksum == _calc_checksum(body)
- assert len(body.split(",")) == 9 # $GPIMU + 8 瀛楁
+ assert frame.startswith(b"fmim")
+ assert frame.endswith(b"ed")
+ assert len(frame) == protocols.IM23A_IMU_LEN
+ assert _checksum_matches(frame)
+
+ accel_x = struct.unpack("<f", frame[12:16])[0]
+ gyro_z = struct.unpack("<f", frame[28:32])[0]
+ assert accel_x == pytest.approx(0.01)
+ assert gyro_z == pytest.approx(-0.3)
def _build_control_frame(payload: bytes) -> bytes:
--
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