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tests: drivers: gnss: gnss_emul: test driver
Test the behaviour of the emulated GNSS driver. Signed-off-by: Jordan Yates <[email protected]>
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‎tests/drivers/gnss/gnss_emul/CMakeLists.txt‎

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# Copyright (c) 2025 Embeint Pty Ltd
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# SPDX-License-Identifier: Apache-2.0
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cmake_minimum_required(VERSION 3.20.0)
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find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE})
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project(gnss_emul)
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target_sources(app PRIVATE
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src/main.c
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)

‎tests/drivers/gnss/gnss_emul/app.overlay‎

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/*
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* Copyright 2025 Embeint Pty Ltd
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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/ {
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aliases {
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gnss = &gnss;
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};
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gnss: gnss {
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compatible = "zephyr,gnss-emul";
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status = "okay";
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zephyr,pm-device-runtime-auto;
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};
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};

‎tests/drivers/gnss/gnss_emul/prj.conf‎

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# Copyright (c) 2025 Embeint Pty Ltd
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# SPDX-License-Identifier: Apache-2.0
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CONFIG_ZTEST=y
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CONFIG_ZTEST_STACK_SIZE=4096
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CONFIG_PM_DEVICE=y
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CONFIG_PM_DEVICE_RUNTIME=y
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CONFIG_GNSS=y
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CONFIG_GNSS_EMUL=y
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CONFIG_GNSS_EMUL_MANUAL_UPDATE=y

‎tests/drivers/gnss/gnss_emul/src/main.c‎

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/*
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* Copyright 2025 Embeint Pty Ltd
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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#include <stdint.h>
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#include <zephyr/ztest.h>
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#include <zephyr/kernel.h>
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#include <zephyr/drivers/gnss.h>
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#include <zephyr/drivers/gnss/gnss_emul.h>
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#include <zephyr/pm/device.h>
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#include <zephyr/pm/device_runtime.h>
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static void gnss_data_callback(const struct device *dev, const struct gnss_data *data);
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GNSS_DATA_CALLBACK_DEFINE(DEVICE_DT_GET(DT_ALIAS(gnss)), gnss_data_callback);
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static K_SEM_DEFINE(gnss_data_published, 0, 1);
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static struct gnss_data gnss_published_data;
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static void expected_pm_state(const struct device *dev, enum pm_device_state expected)
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{
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enum pm_device_state state;
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zassert_equal(0, pm_device_state_get(dev, &state));
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zassert_equal(expected, state);
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}
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static void gnss_data_callback(const struct device *dev, const struct gnss_data *data)
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{
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gnss_published_data = *data;
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k_sem_give(&gnss_data_published);
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}
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static void print_time(const struct gnss_time *utc)
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{
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printk("TIME: %02d/%02d/%02d %02d:%02d:%02d.%03d\n", utc->century_year, utc->month,
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utc->month_day, utc->hour, utc->minute, utc->millisecond / 1000,
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utc->millisecond % 1000);
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}
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ZTEST(gnss_emul, test_config_functions)
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{
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const struct device *dev = DEVICE_DT_GET(DT_ALIAS(gnss));
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enum gnss_navigation_mode mode;
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gnss_systems_t systems;
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uint32_t fix_rate;
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/* Booted into suspend mode */
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expected_pm_state(dev, PM_DEVICE_STATE_SUSPENDED);
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/* Configuration get API functions fail when suspended */
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zassert_equal(-ENODEV, gnss_get_enabled_systems(dev, &systems));
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zassert_equal(-ENODEV, gnss_get_navigation_mode(dev, &mode));
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zassert_equal(-ENODEV, gnss_get_fix_rate(dev, &fix_rate));
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/* Configuration can be queried when enabled */
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zassert_equal(0, pm_device_runtime_get(dev));
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zassert_equal(0, gnss_set_enabled_systems(dev, GNSS_SYSTEM_GPS | GNSS_SYSTEM_GALILEO));
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zassert_equal(0, gnss_set_navigation_mode(dev, GNSS_NAVIGATION_MODE_HIGH_DYNAMICS));
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zassert_equal(0, gnss_set_fix_rate(dev, 1500));
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zassert_equal(0, gnss_get_enabled_systems(dev, &systems));
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zassert_equal(0, gnss_get_navigation_mode(dev, &mode));
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zassert_equal(0, gnss_get_fix_rate(dev, &fix_rate));
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zassert_equal(GNSS_SYSTEM_GPS | GNSS_SYSTEM_GALILEO, systems);
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zassert_equal(GNSS_NAVIGATION_MODE_HIGH_DYNAMICS, mode);
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zassert_equal(1500, fix_rate);
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zassert_equal(0, pm_device_runtime_put(dev));
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/* Fails again when suspended */
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zassert_equal(-ENODEV, gnss_get_enabled_systems(dev, &systems));
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zassert_equal(-ENODEV, gnss_get_navigation_mode(dev, &mode));
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zassert_equal(-ENODEV, gnss_get_fix_rate(dev, &fix_rate));
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/* But escape hatches work */
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systems = 0;
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mode = 0;
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fix_rate = 0;
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zassert_equal(0, gnss_emul_get_enabled_systems(dev, &systems));
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zassert_equal(0, gnss_emul_get_navigation_mode(dev, &mode));
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zassert_equal(0, gnss_emul_get_fix_rate(dev, &fix_rate));
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zassert_equal(GNSS_SYSTEM_GPS | GNSS_SYSTEM_GALILEO, systems);
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zassert_equal(GNSS_NAVIGATION_MODE_HIGH_DYNAMICS, mode);
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zassert_equal(1500, fix_rate);
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}
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ZTEST(gnss_emul, test_callback_behaviour)
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{
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const struct device *dev = DEVICE_DT_GET(DT_ALIAS(gnss));
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const struct navigation_data nav = {
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.latitude = 150000000000,
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.longitude = -15199000000,
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.altitude = 123456,
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};
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const struct gnss_info info = {
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.satellites_cnt = 7,
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.hdop = 1999,
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.geoid_separation = 1000,
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.fix_status = GNSS_FIX_STATUS_GNSS_FIX,
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.fix_quality = GNSS_FIX_QUALITY_GNSS_SPS,
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};
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const struct gnss_time *utc;
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uint32_t timestamp;
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/* Booted into suspend mode */
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expected_pm_state(dev, PM_DEVICE_STATE_SUSPENDED);
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/* No data published while suspended */
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zassert_equal(-EAGAIN, k_sem_take(&gnss_data_published, K_SECONDS(5)));
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/* Power up and configure for 1Hz */
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zassert_equal(0, pm_device_runtime_get(dev));
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zassert_equal(0, gnss_set_fix_rate(dev, 1000));
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timestamp = k_uptime_get_32();
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/* Monitor data for a while */
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for (int i = 0; i < 10; i++) {
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zassert_equal(0, k_sem_take(&gnss_data_published, K_MSEC(1100)));
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zassert_equal(0, gnss_published_data.nav_data.latitude);
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zassert_equal(0, gnss_published_data.nav_data.longitude);
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zassert_equal(0, gnss_published_data.nav_data.altitude);
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zassert_equal(0, gnss_published_data.info.satellites_cnt);
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print_time(&gnss_published_data.utc);
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}
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/* Set a location, approximately 14th July 2017, 02:40:xx am */
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gnss_emul_set_data(dev, &nav, &info, 1500000000000LL);
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for (int i = 0; i < 3; i++) {
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utc = &gnss_published_data.utc;
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/* Published data should match that configured */
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zassert_equal(0, k_sem_take(&gnss_data_published, K_MSEC(1100)));
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zassert_mem_equal(&gnss_published_data.nav_data, &nav, sizeof(nav));
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zassert_mem_equal(&gnss_published_data.info, &info, sizeof(info));
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zassert_equal(17, utc->century_year);
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zassert_equal(7, utc->month);
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zassert_equal(14, utc->month_day);
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zassert_equal(2, utc->hour);
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zassert_equal(40, utc->minute);
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print_time(&gnss_published_data.utc);
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}
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/* Reset back to no location */
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gnss_emul_clear_data(dev);
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for (int i = 0; i < 5; i++) {
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zassert_equal(0, k_sem_take(&gnss_data_published, K_MSEC(1100)));
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zassert_equal(0, gnss_published_data.nav_data.latitude);
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zassert_equal(0, gnss_published_data.nav_data.longitude);
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zassert_equal(0, gnss_published_data.nav_data.altitude);
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zassert_equal(0, gnss_published_data.info.satellites_cnt);
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print_time(&gnss_published_data.utc);
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}
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/* Once again no callbacks once suspended */
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zassert_equal(0, pm_device_runtime_put(dev));
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zassert_equal(-EAGAIN, k_sem_take(&gnss_data_published, K_SECONDS(5)));
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}
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ZTEST_SUITE(gnss_emul, NULL, NULL, NULL, NULL, NULL);

‎tests/drivers/gnss/gnss_emul/testcase.yaml‎

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# Copyright (c) 2025 Embeint Pty Ltd
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# SPDX-License-Identifier: Apache-2.0
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tests:
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drivers.gnss.gnss_emul:
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platform_allow:
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- native_sim
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integration_platforms:
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- native_sim
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tags:
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- gnss

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