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ManualControlSelectorTest: add constantly outdated samples case

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Reviewing the code I saw this case arising from the order things
get checked.
This commit is contained in:
Matthias Grob
2021-06-15 17:20:06 +02:00
parent 39282a795f
commit 11a46d3d27
1 changed files with 23 additions and 0 deletions
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src/modules/manual_control/ManualControlSelectorTest.cpp
+23
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@@ -173,3 +173,26 @@ TEST(ManualControlSelector, RcTimeout)
EXPECT_FALSE(selector.setpoint().valid);
EXPECT_EQ(selector.instance(), -1);
}
TEST(ManualControlSelector, RcOutdated)
{
ManualControlSelector selector;
selector.set_rc_in_mode(0);
selector.set_timeout(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input.timestamp_sample = timestamp - 600_ms; // First sample is already outdated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);
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);
EXPECT_FALSE(selector.setpoint().valid);
EXPECT_EQ(selector.instance(), -1);
}