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ManualControlSelector: rename functions and validate chosen inputs all the time

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This commit is contained in:
Matthias Grob
2021-10-13 14:14:56 +02:00
parent 28a29ad050
commit 0901b73f50
4 changed files with 38 additions and 43 deletions
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src/modules/manual_control/ManualControlSelectorTest.cpp
+25 -25
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@@ -43,8 +43,8 @@ static constexpr uint64_t some_time = 12345678;
TEST(ManualControlSelector, RcInputContinuous)
{
ManualControlSelector selector;
selector.set_rc_in_mode(0);
selector.set_timeout(500_ms);
selector.setRcInMode(0);
selector.setTimeout(500_ms);
uint64_t timestamp = some_time;
@@ -54,7 +54,7 @@ TEST(ManualControlSelector, RcInputContinuous)
input.timestamp_sample = timestamp;
for (int i = 0; i < 5; i++) {
selector.update_manual_control_input(timestamp, input, 1);
selector.updateWithNewInputSample(timestamp, input, 1);
EXPECT_TRUE(selector.setpoint().valid);
EXPECT_EQ(selector.setpoint().chosen_input.timestamp_sample, timestamp);
EXPECT_EQ(selector.instance(), 1);
@@ -67,15 +67,15 @@ TEST(ManualControlSelector, RcInputContinuous)
TEST(ManualControlSelector, RcInputOnly)
{
ManualControlSelector selector;
selector.set_rc_in_mode(0);
selector.set_timeout(500_ms);
selector.setRcInMode(0);
selector.setTimeout(500_ms);
uint64_t timestamp = some_time;
manual_control_input_s input {};
input.data_source = manual_control_input_s::SOURCE_MAVLINK_0;
input.timestamp_sample = timestamp;
selector.update_manual_control_input(timestamp, input, 0);
selector.updateWithNewInputSample(timestamp, input, 0);
EXPECT_FALSE(selector.setpoint().valid);
@@ -84,7 +84,7 @@ TEST(ManualControlSelector, RcInputOnly)
// Now provide input with the correct source.
input.data_source = manual_control_input_s::SOURCE_RC;
input.timestamp_sample = timestamp;
selector.update_manual_control_input(timestamp, input, 1);
selector.updateWithNewInputSample(timestamp, input, 1);
EXPECT_TRUE(selector.setpoint().valid);
EXPECT_TRUE(selector.setpoint().chosen_input.data_source == manual_control_input_s::SOURCE_RC);
@@ -94,15 +94,15 @@ TEST(ManualControlSelector, RcInputOnly)
TEST(ManualControlSelector, MavlinkInputOnly)
{
ManualControlSelector selector;
selector.set_rc_in_mode(1);
selector.set_timeout(500_ms);
selector.setRcInMode(1);
selector.setTimeout(500_ms);
uint64_t timestamp = some_time;
manual_control_input_s input {};
input.data_source = manual_control_input_s::SOURCE_RC;
input.timestamp_sample = timestamp;
selector.update_manual_control_input(timestamp, input, 0);
selector.updateWithNewInputSample(timestamp, input, 0);
EXPECT_FALSE(selector.setpoint().valid);
@@ -111,7 +111,7 @@ TEST(ManualControlSelector, MavlinkInputOnly)
// Now provide input with the correct source.
input.data_source = manual_control_input_s::SOURCE_MAVLINK_3;
input.timestamp_sample = timestamp;
selector.update_manual_control_input(timestamp, input, 1);
selector.updateWithNewInputSample(timestamp, input, 1);
EXPECT_TRUE(selector.setpoint().valid);
EXPECT_TRUE(selector.setpoint().chosen_input.data_source == manual_control_input_s::SOURCE_MAVLINK_3);
@@ -122,7 +122,7 @@ TEST(ManualControlSelector, MavlinkInputOnly)
// But only the first MAVLink source wins, others are too late.
input.data_source = manual_control_input_s::SOURCE_MAVLINK_4;
input.timestamp_sample = timestamp;
selector.update_manual_control_input(timestamp, input, 1);
selector.updateWithNewInputSample(timestamp, input, 1);
EXPECT_TRUE(selector.setpoint().valid);
EXPECT_TRUE(selector.setpoint().chosen_input.data_source == manual_control_input_s::SOURCE_MAVLINK_3);
@@ -132,15 +132,15 @@ TEST(ManualControlSelector, MavlinkInputOnly)
TEST(ManualControlSelector, AutoInput)
{
ManualControlSelector selector;
selector.set_rc_in_mode(3);
selector.set_timeout(500_ms);
selector.setRcInMode(3);
selector.setTimeout(500_ms);
uint64_t timestamp = some_time;
manual_control_input_s input {};
input.data_source = manual_control_input_s::SOURCE_RC;
input.timestamp_sample = timestamp;
selector.update_manual_control_input(timestamp, input, 0);
selector.updateWithNewInputSample(timestamp, input, 0);
EXPECT_TRUE(selector.setpoint().valid);
EXPECT_TRUE(selector.setpoint().chosen_input.data_source == manual_control_input_s::SOURCE_RC);
@@ -151,7 +151,7 @@ TEST(ManualControlSelector, AutoInput)
// Now provide input from MAVLink as well which should get ignored.
input.data_source = manual_control_input_s::SOURCE_MAVLINK_0;
input.timestamp_sample = timestamp;
selector.update_manual_control_input(timestamp, input, 1);
selector.updateWithNewInputSample(timestamp, input, 1);
EXPECT_TRUE(selector.setpoint().valid);
EXPECT_TRUE(selector.setpoint().chosen_input.data_source == manual_control_input_s::SOURCE_RC);
@@ -162,7 +162,7 @@ TEST(ManualControlSelector, AutoInput)
// Now we'll let RC time out, so it should switch to MAVLINK.
input.data_source = manual_control_input_s::SOURCE_MAVLINK_0;
input.timestamp_sample = timestamp;
selector.update_manual_control_input(timestamp, input, 1);
selector.updateWithNewInputSample(timestamp, input, 1);
EXPECT_TRUE(selector.setpoint().valid);
EXPECT_TRUE(selector.setpoint().chosen_input.data_source == manual_control_input_s::SOURCE_MAVLINK_0);
@@ -172,15 +172,15 @@ TEST(ManualControlSelector, AutoInput)
TEST(ManualControlSelector, RcTimeout)
{
ManualControlSelector selector;
selector.set_rc_in_mode(0);
selector.set_timeout(500_ms);
selector.setRcInMode(0);
selector.setTimeout(500_ms);
uint64_t timestamp = some_time;
manual_control_input_s input {};
input.data_source = manual_control_input_s::SOURCE_RC;
input.timestamp_sample = timestamp;
selector.update_manual_control_input(timestamp, input, 0);
selector.updateWithNewInputSample(timestamp, input, 0);
EXPECT_TRUE(selector.setpoint().valid);
EXPECT_TRUE(selector.setpoint().chosen_input.data_source == manual_control_input_s::SOURCE_RC);
@@ -189,7 +189,7 @@ TEST(ManualControlSelector, RcTimeout)
timestamp += 600_ms;
// Update, to make sure it notices the timeout
selector.update_time_only(timestamp);
selector.updateValidityOfChosenInput(timestamp);
EXPECT_FALSE(selector.setpoint().valid);
EXPECT_EQ(selector.instance(), -1);
@@ -198,21 +198,21 @@ TEST(ManualControlSelector, RcTimeout)
TEST(ManualControlSelector, RcOutdated)
{
ManualControlSelector selector;
selector.set_rc_in_mode(0);
selector.set_timeout(500_ms);
selector.setRcInMode(0);
selector.setTimeout(500_ms);
uint64_t timestamp = some_time;
manual_control_input_s input {};
input.data_source = manual_control_input_s::SOURCE_RC;
input.timestamp_sample = timestamp - 600_ms; // First sample is already outdated
selector.update_manual_control_input(timestamp, input, 0);
selector.updateWithNewInputSample(timestamp, input, 0);
EXPECT_FALSE(selector.setpoint().valid);
EXPECT_EQ(selector.instance(), -1);
// If we update again it should still not get accepted
selector.update_manual_control_input(timestamp, input, 0);
selector.updateWithNewInputSample(timestamp, input, 0);
EXPECT_FALSE(selector.setpoint().valid);
EXPECT_EQ(selector.instance(), -1);