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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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ManualControl: add functional test for switch behavior
Using the established interface processInput() function.
This commit is contained in:
Matthias Grob
@@ -46,4 +46,5 @@ px4_add_module(
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px4_work_queue
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)
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px4_add_functional_gtest(SRC ManualControlTest.cpp LINKLIBS modules__manual_control)
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px4_add_unit_gtest(SRC ManualControlSelectorTest.cpp LINKLIBS modules__manual_control)
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@@ -75,7 +75,9 @@ public:
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int print_status() override;
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protected:
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void processInput(hrt_abstime now); // protected for testing
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// protected for testing
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void processInput(hrt_abstime now);
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static int8_t navStateFromParam(int32_t param_value);
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private:
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static constexpr int MAX_MANUAL_INPUT_COUNT = 3;
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@@ -85,8 +87,6 @@ private:
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void processStickArming(const manual_control_setpoint_s &input);
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void processSwitches(hrt_abstime &now);
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static int8_t navStateFromParam(int32_t param_value);
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void evaluateModeSlot(uint8_t mode_slot);
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void sendActionRequest(int8_t action, int8_t source, int8_t mode = 0);
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void publishLandingGear(int8_t action);
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@@ -0,0 +1,284 @@
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/****************************************************************************
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*
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* Copyright (c) 2023 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#define MODULE_NAME "manual_control"
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#include <gtest/gtest.h>
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#include "ManualControl.hpp"
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static constexpr uint64_t SOME_TIME = 12345678;
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static constexpr uint8_t ACTION_KILL = action_request_s::ACTION_KILL;
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static constexpr uint8_t ACTION_UNKILL = action_request_s::ACTION_UNKILL;
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static constexpr uint8_t ACTION_VTOL_TRANSITION_TO_FIXEDWING = action_request_s::ACTION_VTOL_TRANSITION_TO_FIXEDWING;
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static constexpr uint8_t ACTION_VTOL_TRANSITION_TO_MULTICOPTER =
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action_request_s::ACTION_VTOL_TRANSITION_TO_MULTICOPTER;
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static constexpr uint8_t ACTION_SWITCH_MODE = action_request_s::ACTION_SWITCH_MODE;
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static constexpr uint8_t NAVIGATION_STATE_MANUAL = vehicle_status_s::NAVIGATION_STATE_MANUAL;
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static constexpr uint8_t NAVIGATION_STATE_ALTCTL = vehicle_status_s::NAVIGATION_STATE_ALTCTL;
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static constexpr uint8_t NAVIGATION_STATE_POSCTL = vehicle_status_s::NAVIGATION_STATE_POSCTL;
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static constexpr uint8_t NAVIGATION_STATE_AUTO_MISSION = vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION;
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static constexpr uint8_t NAVIGATION_STATE_AUTO_LOITER = vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER;
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static constexpr uint8_t NAVIGATION_STATE_ACRO = vehicle_status_s::NAVIGATION_STATE_ACRO;
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class TestManualControl : public ManualControl
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{
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public:
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void processInput(hrt_abstime now) { ManualControl::processInput(now); }
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static int8_t navStateFromParam(int32_t param_value) { return ManualControl::navStateFromParam(param_value); }
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};
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class SwitchTest : public ::testing::Test
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{
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public:
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void SetUp() override
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{
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// Disable autosaving parameters to avoid busy loop in param_set()
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param_control_autosave(false);
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// Set stick input timeout to half a second
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const float com_rc_loss_t = .5f;
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param_set(param_find("COM_RC_LOSS_T"), &com_rc_loss_t);
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int32_t mode = NAVIGATION_STATE_ACRO;
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param_set(param_find("COM_FLTMODE1"), &mode);
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mode = NAVIGATION_STATE_MANUAL;
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param_set(param_find("COM_FLTMODE2"), &mode);
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mode = NAVIGATION_STATE_ALTCTL;
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param_set(param_find("COM_FLTMODE3"), &mode);
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mode = NAVIGATION_STATE_POSCTL;
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param_set(param_find("COM_FLTMODE4"), &mode);
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mode = NAVIGATION_STATE_AUTO_LOITER;
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param_set(param_find("COM_FLTMODE5"), &mode);
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mode = NAVIGATION_STATE_AUTO_MISSION;
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param_set(param_find("COM_FLTMODE6"), &mode);
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}
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uORB::Publication<manual_control_switches_s> _manual_control_switches_pub{ORB_ID(manual_control_switches)};
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uORB::Publication<manual_control_setpoint_s> _manual_control_input_pub{ORB_ID(manual_control_input)};
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uORB::SubscriptionData<manual_control_setpoint_s> _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)};
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uORB::SubscriptionData<action_request_s> _action_request_sub{ORB_ID(action_request)};
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TestManualControl _manual_control;
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hrt_abstime _timestamp{SOME_TIME};
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};
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TEST_F(SwitchTest, KillSwitch)
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{
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// GIVEN: valid stick input from RC
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_manual_control_input_pub.publish({.timestamp_sample = _timestamp, .valid = true, .data_source = manual_control_setpoint_s::SOURCE_RC});
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// and kill switch in off position
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_manual_control_switches_pub.publish({.timestamp_sample = _timestamp, .kill_switch = manual_control_switches_s::SWITCH_POS_ON});
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_manual_control.processInput(_timestamp += 100_ms);
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// THEN: the stick input is published for use
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EXPECT_TRUE(_manual_control_setpoint_sub.update());
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EXPECT_TRUE(_manual_control_setpoint_sub.get().valid);
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// but there is no action requested
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EXPECT_FALSE(_action_request_sub.update());
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// WHEN: the kill switch is switched on
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_manual_control_switches_pub.publish({.timestamp_sample = _timestamp, .kill_switch = manual_control_switches_s::SWITCH_POS_OFF});
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_manual_control.processInput(_timestamp += 100_ms);
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// THEN: a kill action request is published
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EXPECT_TRUE(_action_request_sub.update());
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EXPECT_EQ(_action_request_sub.get().action, ACTION_UNKILL);
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// WHEN: the kill switch is switched off again
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_manual_control_switches_pub.publish({.timestamp_sample = _timestamp, .kill_switch = manual_control_switches_s::SWITCH_POS_ON});
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_manual_control.processInput(_timestamp += 100_ms);
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// THEN: an unkill action request is published
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EXPECT_TRUE(_action_request_sub.update());
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EXPECT_EQ(_action_request_sub.get().action, ACTION_KILL);
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}
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TEST_F(SwitchTest, TransitionSwitch)
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{
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// GIVEN: valid stick input from RC
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_manual_control_input_pub.publish({.timestamp_sample = _timestamp, .valid = true, .data_source = manual_control_setpoint_s::SOURCE_RC});
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// and transition switch in off position
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_manual_control_switches_pub.publish({.timestamp_sample = _timestamp, .transition_switch = manual_control_switches_s::SWITCH_POS_OFF});
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_manual_control.processInput(_timestamp += 100_ms);
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// THEN: the stick input is published for use
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EXPECT_TRUE(_manual_control_setpoint_sub.update());
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EXPECT_TRUE(_manual_control_setpoint_sub.get().valid);
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// but there is no action requested
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EXPECT_FALSE(_action_request_sub.update());
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// WHEN: the transition switch is switched on
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_manual_control_switches_pub.publish({.timestamp_sample = _timestamp, .transition_switch = manual_control_switches_s::SWITCH_POS_ON});
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_manual_control.processInput(_timestamp += 100_ms);
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// THEN: a forward transition action request is published
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EXPECT_TRUE(_action_request_sub.update());
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EXPECT_EQ(_action_request_sub.get().action, ACTION_VTOL_TRANSITION_TO_FIXEDWING);
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// WHEN: the kill switch is switched off again
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_manual_control_switches_pub.publish({.timestamp_sample = _timestamp, .transition_switch = manual_control_switches_s::SWITCH_POS_OFF});
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_manual_control.processInput(_timestamp += 100_ms);
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// THEN: an backward transition action request is published
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EXPECT_TRUE(_action_request_sub.update());
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EXPECT_EQ(_action_request_sub.get().action, ACTION_VTOL_TRANSITION_TO_MULTICOPTER);
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}
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TEST_F(SwitchTest, TransitionSwitchStaysRcLoss)
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{
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// GIVEN: valid stick input from the RC
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_manual_control_input_pub.publish({.timestamp_sample = _timestamp, .valid = true, .data_source = manual_control_setpoint_s::SOURCE_RC});
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// and transition switch in off position
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_manual_control_switches_pub.publish({.timestamp_sample = _timestamp, .transition_switch = manual_control_switches_s::SWITCH_POS_OFF});
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_manual_control.processInput(_timestamp += 100_ms);
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// THEN: the stick input is published for use
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EXPECT_TRUE(_manual_control_setpoint_sub.update());
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EXPECT_TRUE(_manual_control_setpoint_sub.get().valid);
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// but there is no action requested
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EXPECT_FALSE(_action_request_sub.update());
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// WHEN: RC signal times out
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_manual_control.processInput(_timestamp += 1_s);
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// THEN: the stick input is invalidated
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EXPECT_TRUE(_manual_control_setpoint_sub.update());
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EXPECT_FALSE(_manual_control_setpoint_sub.get().valid);
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// and there is no action requested
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EXPECT_FALSE(_action_request_sub.update());
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// WHEN: RC signal comes back
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_manual_control_input_pub.publish({.timestamp_sample = _timestamp, .valid = true, .data_source = manual_control_setpoint_s::SOURCE_RC});
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_manual_control.processInput(_timestamp += 100_ms);
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// THEN: the stick input is avaialble again
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EXPECT_TRUE(_manual_control_setpoint_sub.update());
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EXPECT_TRUE(_manual_control_setpoint_sub.get().valid);
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// but there is still no action requested
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EXPECT_FALSE(_action_request_sub.update());
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}
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TEST_F(SwitchTest, TransitionSwitchChangesRcLoss)
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{
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// GIVEN: valid stick input from the RC
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_manual_control_input_pub.publish({.timestamp_sample = _timestamp, .valid = true, .data_source = manual_control_setpoint_s::SOURCE_RC});
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// and transition switch in off position
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_manual_control_switches_pub.publish({.timestamp_sample = _timestamp, .transition_switch = manual_control_switches_s::SWITCH_POS_OFF});
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_manual_control.processInput(_timestamp += 100_ms);
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// THEN: the stick input is published for use
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EXPECT_TRUE(_manual_control_setpoint_sub.update());
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EXPECT_TRUE(_manual_control_setpoint_sub.get().valid);
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// but there is no action requested
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EXPECT_FALSE(_action_request_sub.update());
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// WHEN: RC signal times out
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_manual_control.processInput(_timestamp += 1_s);
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// THEN: the stick input is invalidated
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EXPECT_TRUE(_manual_control_setpoint_sub.update());
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EXPECT_FALSE(_manual_control_setpoint_sub.get().valid);
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// and there is no action requested
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EXPECT_FALSE(_action_request_sub.update());
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// WHEN: RC signal comes back with the switch on
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_manual_control_input_pub.publish({.timestamp_sample = _timestamp, .valid = true, .data_source = manual_control_setpoint_s::SOURCE_RC});
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_manual_control_switches_pub.publish({.timestamp_sample = _timestamp, .transition_switch = manual_control_switches_s::SWITCH_POS_ON});
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_manual_control.processInput(_timestamp += 100_ms);
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// THEN: the stick input is avaialble again
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EXPECT_TRUE(_manual_control_setpoint_sub.update());
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EXPECT_TRUE(_manual_control_setpoint_sub.get().valid);
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// but there is still no action requested
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EXPECT_FALSE(_action_request_sub.update());
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}
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TEST_F(SwitchTest, ModeSwitch)
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{
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// GIVEN: valid stick input from RC
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_manual_control_input_pub.publish({.timestamp_sample = _timestamp, .valid = true, .data_source = manual_control_setpoint_s::SOURCE_RC});
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// and mode switch in position 1
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_manual_control_switches_pub.publish({.timestamp_sample = _timestamp, .mode_slot = manual_control_switches_s::MODE_SLOT_1});
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_manual_control.processInput(_timestamp += 10_ms);
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// THEN: the stick input is published for use
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EXPECT_TRUE(_manual_control_setpoint_sub.update());
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EXPECT_TRUE(_manual_control_setpoint_sub.get().valid);
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// and action requested to switch to mode 1
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EXPECT_TRUE(_action_request_sub.update());
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EXPECT_EQ(_action_request_sub.get().action, ACTION_SWITCH_MODE);
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EXPECT_EQ(_action_request_sub.get().mode, TestManualControl::navStateFromParam(NAVIGATION_STATE_ACRO));
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// WHEN: the mode switch is switched to 2
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_manual_control_switches_pub.publish({.timestamp_sample = _timestamp, .mode_slot = manual_control_switches_s::MODE_SLOT_2});
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_manual_control.processInput(_timestamp += 10_ms);
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// THEN: action requested to switch to mode 2
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EXPECT_TRUE(_action_request_sub.update());
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EXPECT_EQ(_action_request_sub.get().action, ACTION_SWITCH_MODE);
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EXPECT_EQ(_action_request_sub.get().mode, TestManualControl::navStateFromParam(NAVIGATION_STATE_MANUAL));
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// WHEN: the mode switch is switched to 3
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_manual_control_switches_pub.publish({.timestamp_sample = _timestamp, .mode_slot = manual_control_switches_s::MODE_SLOT_3});
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_manual_control.processInput(_timestamp += 10_ms);
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// THEN: action requested to switch to mode 3
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EXPECT_TRUE(_action_request_sub.update());
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EXPECT_EQ(_action_request_sub.get().action, ACTION_SWITCH_MODE);
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EXPECT_EQ(_action_request_sub.get().mode, TestManualControl::navStateFromParam(NAVIGATION_STATE_ALTCTL));
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// WHEN: the mode switch is switched to 4
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_manual_control_switches_pub.publish({.timestamp_sample = _timestamp, .mode_slot = manual_control_switches_s::MODE_SLOT_4});
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_manual_control.processInput(_timestamp += 10_ms);
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// THEN: action requested to switch to mode 4
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EXPECT_TRUE(_action_request_sub.update());
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EXPECT_EQ(_action_request_sub.get().action, ACTION_SWITCH_MODE);
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EXPECT_EQ(_action_request_sub.get().mode, TestManualControl::navStateFromParam(NAVIGATION_STATE_POSCTL));
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// WHEN: the mode switch is switched to 5
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_manual_control_switches_pub.publish({.timestamp_sample = _timestamp, .mode_slot = manual_control_switches_s::MODE_SLOT_5});
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_manual_control.processInput(_timestamp += 10_ms);
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// THEN: action requested to switch to mode 5
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EXPECT_TRUE(_action_request_sub.update());
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EXPECT_EQ(_action_request_sub.get().action, ACTION_SWITCH_MODE);
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EXPECT_EQ(_action_request_sub.get().mode, TestManualControl::navStateFromParam(NAVIGATION_STATE_AUTO_LOITER));
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// WHEN: the mode switch is switched to 6
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_manual_control_switches_pub.publish({.timestamp_sample = _timestamp, .mode_slot = manual_control_switches_s::MODE_SLOT_6});
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_manual_control.processInput(_timestamp += 10_ms);
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// THEN: action requested to switch to mode 6
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EXPECT_TRUE(_action_request_sub.update());
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EXPECT_EQ(_action_request_sub.get().action, ACTION_SWITCH_MODE);
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EXPECT_EQ(_action_request_sub.get().mode, TestManualControl::navStateFromParam(NAVIGATION_STATE_AUTO_MISSION));
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}
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