ManualControl: add functional test for switch behavior

Using the established interface processInput() function.

src/modules/manual_control/CMakeLists.txt

@@ -46,4 +46,5 @@ px4_add_module(
 		px4_work_queue
 	)
 
+px4_add_functional_gtest(SRC ManualControlTest.cpp LINKLIBS modules__manual_control)
 px4_add_unit_gtest(SRC ManualControlSelectorTest.cpp LINKLIBS modules__manual_control)

src/modules/manual_control/ManualControl.hpp

@@ -75,7 +75,9 @@ public:
 	int print_status() override;
 
 protected:
-	void processInput(hrt_abstime now); // protected for testing
+	// protected for testing
+	void processInput(hrt_abstime now);
+	static int8_t navStateFromParam(int32_t param_value);
 
 private:
 	static constexpr int MAX_MANUAL_INPUT_COUNT = 3;
@@ -85,8 +87,6 @@ private:
 	void processStickArming(const manual_control_setpoint_s &input);
 	void processSwitches(hrt_abstime &now);
 
-	static int8_t navStateFromParam(int32_t param_value);
-
 	void evaluateModeSlot(uint8_t mode_slot);
 	void sendActionRequest(int8_t action, int8_t source, int8_t mode = 0);
 	void publishLandingGear(int8_t action);

src/modules/manual_control/ManualControlTest.cpp

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