piksi-emulator

A naive Piksi emulator that outputs position solutions at 1HZ (hardcoded) and echos observations written to it.

This is for testing external streams of corrections and that they're getting to a piksi correctly. A real piksi device echoes back observations that are written to it; this utility is helpful for verifying that those parts of your application are functioning correctly, while removing serial communications and hardware from testing.

Install

You can use the piksi emulator programatically or via the CLI.

To install globally:

npm install -g piksi-emulator

Or to save it to a project:

npm install --save piksi-emulator

CLI usage

  Usage: piksi-emulator [options]
  Options:
    -h, --help         output usage information
    -V, --version      output the version number
    -p, --port <n>     http port number [default 7777]
    --hz <n>           solution rate [default 1]
    --sender <n>       SBP sender ID [default 0x42]
    -x <x>             ECEF X position (must also provide Y, Z or none)
    -y <y>             ECEF Y position (must also provide X, Z or none)
    -z <z>             ECEF Z position (must also provide X, Y or none)
    --lat <lat>        LLH lat position (must also provide lon, height or none)
    --lon <lon>        LLH lon position (must also provide lat, height or none)
    --height <height>  LLH height (must also provide lat, lon or none)

You can run piksi-emulator with all the defaults and it will start a virtual device on HTTP port 7777.

Programmatic usage

const defaultEcef = ;
const defaultLlh = {
};
 
var emulator = require('emulator');
var port = 1234;
var ecef = {
  x: -2706105.162741557,
  y: -4261224.166310791,
  z: 3885605.2890337044
};
var llh = {
  lat: 37.77348891054085,
  lon: -122.41772914435545,
  height: 60
};
var hz = 2;
var senderId = 0x84;
var server = emulator(port, ecef, llh, hz, senderId);
 
// run your tests... then close server after a delay
setTimeout(function () {
  server.close();
}, 10000);

License

MIT license. See LICENSE file.