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feat: expand to 4 modes with more priority options

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This commit is contained in:
Tobias Büchli
2025-09-24 16:10:04 +02:00
parent 25c66a7ee5
commit 2c062a45ba
6 changed files with 375 additions and 98 deletions
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src/modules/manual_control/ManualControlSelectorTest.cpp
+292 -81
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@@ -352,15 +352,15 @@ TEST(ManualControlSelector, RcOutdated)
EXPECT_EQ(selector.instance(), -1);
}
TEST(ManualControlSelector, AscendingSourcePriority)
TEST(ManualControlSelector, RcThenJoystickAscendingPriority)
{
ManualControlSelector selector;
selector.setRcInMode(5); // Configure ascending source ID priority (lower number wins)
selector.setRcInMode(5); // Configure RC, then Joystick ascending
selector.setTimeout(500_ms);
uint64_t timestamp = SOME_TIME;
// Valid RC input (ID 1) gets used
// Valid RC input gets used
manual_control_setpoint_s input{};
input.data_source = SOURCE_RC;
input.valid = true;
@@ -373,7 +373,7 @@ TEST(ManualControlSelector, AscendingSourcePriority)
timestamp += 100_ms;
// Now provide input from MAVLink (ID 2) as well which should get ignored (1 < 2)
// Now provide input from MAVLink 0 as well which should get ignored
input.data_source = SOURCE_MAVLINK_0;
input.timestamp_sample = timestamp;
selector.updateWithNewInputSample(timestamp, input, 1);
@@ -384,7 +384,7 @@ TEST(ManualControlSelector, AscendingSourcePriority)
timestamp += 500_ms;
// Now we update MAVLink and let RC time out, so it should switch to MAVLink
// Now we update MAVLink 0 and let RC time out, so it should switch to MAVLink 0
input.data_source = SOURCE_MAVLINK_0;
input.timestamp_sample = timestamp;
selector.updateWithNewInputSample(timestamp, input, 1);
@@ -393,7 +393,7 @@ TEST(ManualControlSelector, AscendingSourcePriority)
EXPECT_EQ(selector.setpoint().data_source, SOURCE_MAVLINK_0);
EXPECT_EQ(selector.instance(), 1);
// If we get RC back immediately, it should take over with priority (1 < 2)
// If we get RC back immediately, it should take over with priority
input.data_source = SOURCE_RC;
input.timestamp_sample = timestamp;
selector.updateWithNewInputSample(timestamp, input, 0);
@@ -402,157 +402,368 @@ TEST(ManualControlSelector, AscendingSourcePriority)
EXPECT_EQ(selector.setpoint().data_source, SOURCE_RC);
EXPECT_EQ(selector.instance(), 0);
}
timestamp += 100_ms;
TEST(ManualControlSelector, MavlinkTwoInstanceAscendingPriority)
{
ManualControlSelector selector;
selector.setRcInMode(5); // Configure ascending source ID priority (lower number wins)
selector.setTimeout(500_ms);
uint64_t timestamp = SOME_TIME;
// Valid MAVLink 1 input (ID 3) gets used
manual_control_setpoint_s input{};
// Now provide input from MAVLink 1, which should get ignored
input.data_source = SOURCE_MAVLINK_1;
input.valid = true;
input.timestamp_sample = timestamp;
selector.updateWithNewInputSample(timestamp, input, 1);
selector.updateWithNewInputSample(timestamp, input, 2);
EXPECT_TRUE(selector.setpoint().valid);
EXPECT_EQ(selector.setpoint().data_source, SOURCE_RC);
EXPECT_EQ(selector.instance(), 0);
timestamp += 500_ms;
// Now we update MAVLink 1 and let RC time out, so it should switch to MAVLink 1
input.data_source = SOURCE_MAVLINK_1;
input.timestamp_sample = timestamp;
selector.updateWithNewInputSample(timestamp, input, 2);
EXPECT_TRUE(selector.setpoint().valid);
EXPECT_EQ(selector.setpoint().data_source, SOURCE_MAVLINK_1);
EXPECT_EQ(selector.instance(), 1);
EXPECT_EQ(selector.instance(), 2);
timestamp += 100_ms;
// Now provide input from MAVLink 0 (ID 2), which has higher priority (2 < 3) and should take over
// Now provide input from MAVLink 0, which has higher priority and should take over
input.data_source = SOURCE_MAVLINK_0;
input.timestamp_sample = timestamp;
selector.updateWithNewInputSample(timestamp, input, 0);
EXPECT_TRUE(selector.setpoint().valid);
EXPECT_EQ(selector.setpoint().data_source, SOURCE_MAVLINK_0);
EXPECT_EQ(selector.instance(), 0);
// If we get MAVLink 1 back immediately, it should be ignored since MAVLink 0 has higher priority (2 < 3)
input.data_source = SOURCE_MAVLINK_1;
input.timestamp_sample = timestamp;
selector.updateWithNewInputSample(timestamp, input, 1);
EXPECT_TRUE(selector.setpoint().valid);
EXPECT_EQ(selector.setpoint().data_source, SOURCE_MAVLINK_0);
EXPECT_EQ(selector.instance(), 0);
EXPECT_EQ(selector.instance(), 1);
// If we get MAVLink 1 back immediately, it should be ignored since MAVLink 0 has higher priority
input.data_source = SOURCE_MAVLINK_1;
input.timestamp_sample = timestamp;
selector.updateWithNewInputSample(timestamp, input, 2);
EXPECT_TRUE(selector.setpoint().valid);
EXPECT_EQ(selector.setpoint().data_source, SOURCE_MAVLINK_0);
EXPECT_EQ(selector.instance(), 1);
timestamp += 500_ms;
// Now we update MAVLink 1 and let MAVLink 0 time out, so it should switch to MAVLink 1
input.data_source = SOURCE_MAVLINK_1;
input.timestamp_sample = timestamp;
selector.updateWithNewInputSample(timestamp, input, 1);
selector.updateWithNewInputSample(timestamp, input, 2);
EXPECT_TRUE(selector.setpoint().valid);
EXPECT_EQ(selector.setpoint().data_source, SOURCE_MAVLINK_1);
EXPECT_EQ(selector.instance(), 1);
EXPECT_EQ(selector.instance(), 2);
}
TEST(ManualControlSelector, DescendingSourcePriority)
TEST(ManualControlSelector, JoystickAscendingThenRcPriority)
{
ManualControlSelector selector;
selector.setRcInMode(6); // Configure descending source ID priority (higher number wins)
selector.setRcInMode(6); // Configure Joystick ascending, then RC
selector.setTimeout(500_ms);
uint64_t timestamp = SOME_TIME;
// Valid MAVLink input (ID 2) gets used
// Valid MAVLink 0 input gets used
manual_control_setpoint_s input{};
input.data_source = SOURCE_MAVLINK_0;
input.valid = true;
input.timestamp_sample = timestamp;
selector.updateWithNewInputSample(timestamp, input, 1);
EXPECT_TRUE(selector.setpoint().valid);
EXPECT_EQ(selector.setpoint().data_source, SOURCE_MAVLINK_0);
EXPECT_EQ(selector.instance(), 1);
timestamp += 100_ms;
// Now provide input from MAVLink 1 as well which should get ignored
input.data_source = SOURCE_MAVLINK_1;
input.timestamp_sample = timestamp;
selector.updateWithNewInputSample(timestamp, input, 2);
EXPECT_TRUE(selector.setpoint().valid);
EXPECT_EQ(selector.setpoint().data_source, SOURCE_MAVLINK_0);
EXPECT_EQ(selector.instance(), 1);
timestamp += 500_ms;
// Now we update MAVLink 1 and let MAVLink 0 time out, so it should switch to MAVLink 1
input.data_source = SOURCE_MAVLINK_1;
input.timestamp_sample = timestamp;
selector.updateWithNewInputSample(timestamp, input, 2);
EXPECT_TRUE(selector.setpoint().valid);
EXPECT_EQ(selector.setpoint().data_source, SOURCE_MAVLINK_1);
EXPECT_EQ(selector.instance(), 2);
// If we get MAVLink 0 back immediately, it should take over with priority
input.data_source = SOURCE_MAVLINK_0;
input.timestamp_sample = timestamp;
selector.updateWithNewInputSample(timestamp, input, 1);
EXPECT_TRUE(selector.setpoint().valid);
EXPECT_EQ(selector.setpoint().data_source, SOURCE_MAVLINK_0);
EXPECT_EQ(selector.instance(), 1);
timestamp += 100_ms;
// Now provide input from RC, which should get ignored
input.data_source = SOURCE_RC;
input.timestamp_sample = timestamp;
selector.updateWithNewInputSample(timestamp, input, 0);
EXPECT_TRUE(selector.setpoint().valid);
EXPECT_EQ(selector.setpoint().data_source, SOURCE_MAVLINK_0);
EXPECT_EQ(selector.instance(), 1);
timestamp += 500_ms;
// Now we update RC and let MAVLink 0 time out, so it should switch to RC
input.data_source = SOURCE_RC;
input.timestamp_sample = timestamp;
selector.updateWithNewInputSample(timestamp, input, 0);
EXPECT_TRUE(selector.setpoint().valid);
EXPECT_EQ(selector.setpoint().data_source, SOURCE_RC);
EXPECT_EQ(selector.instance(), 0);
timestamp += 100_ms;
// Now provide input from RC (ID 1) as well which should get ignored (2 > 1)
input.data_source = SOURCE_RC;
// Now provide input from MAVLink 1, which has higher priority and should take over
input.data_source = SOURCE_MAVLINK_1;
input.timestamp_sample = timestamp;
selector.updateWithNewInputSample(timestamp, input, 1);
selector.updateWithNewInputSample(timestamp, input, 2);
EXPECT_TRUE(selector.setpoint().valid);
EXPECT_EQ(selector.setpoint().data_source, SOURCE_MAVLINK_0);
EXPECT_EQ(selector.setpoint().data_source, SOURCE_MAVLINK_1);
EXPECT_EQ(selector.instance(), 2);
// If we get RC back immediately, it should be ignored since MAVLink 1 has higher priority
input.data_source = SOURCE_RC;
input.timestamp_sample = timestamp;
selector.updateWithNewInputSample(timestamp, input, 0);
EXPECT_TRUE(selector.setpoint().valid);
EXPECT_EQ(selector.setpoint().data_source, SOURCE_MAVLINK_1);
EXPECT_EQ(selector.instance(), 2);
timestamp += 500_ms;
// Now we update RC and let MAVLink 1 time out, so it should switch to RC
input.data_source = SOURCE_RC;
input.timestamp_sample = timestamp;
selector.updateWithNewInputSample(timestamp, input, 0);
EXPECT_TRUE(selector.setpoint().valid);
EXPECT_EQ(selector.setpoint().data_source, SOURCE_RC);
EXPECT_EQ(selector.instance(), 0);
}
TEST(ManualControlSelector, RcThenJoystickDescendingPriority)
{
ManualControlSelector selector;
selector.setRcInMode(7); // Configure RC, then Joystick descending
selector.setTimeout(500_ms);
uint64_t timestamp = SOME_TIME;
// Valid RC input gets used
manual_control_setpoint_s input{};
input.data_source = SOURCE_RC;
input.valid = true;
input.timestamp_sample = timestamp;
selector.updateWithNewInputSample(timestamp, input, 0);
EXPECT_TRUE(selector.setpoint().valid);
EXPECT_EQ(selector.setpoint().data_source, SOURCE_RC);
EXPECT_EQ(selector.instance(), 0);
timestamp += 100_ms;
// Now provide input from MAVLink 1 as well which should get ignored
input.data_source = SOURCE_MAVLINK_1;
input.timestamp_sample = timestamp;
selector.updateWithNewInputSample(timestamp, input, 2);
EXPECT_TRUE(selector.setpoint().valid);
EXPECT_EQ(selector.setpoint().data_source, SOURCE_RC);
EXPECT_EQ(selector.instance(), 0);
timestamp += 500_ms;
// Now we update RC and let MAVLink time out, so it should switch to RC
// Now we update MAVLink 0 and let RC time out, so it should switch to MAVLink 0
input.data_source = SOURCE_MAVLINK_1;
input.timestamp_sample = timestamp;
selector.updateWithNewInputSample(timestamp, input, 2);
EXPECT_TRUE(selector.setpoint().valid);
EXPECT_EQ(selector.setpoint().data_source, SOURCE_MAVLINK_1);
EXPECT_EQ(selector.instance(), 2);
// If we get RC back immediately, it should take over with priority
input.data_source = SOURCE_RC;
input.timestamp_sample = timestamp;
selector.updateWithNewInputSample(timestamp, input, 0);
EXPECT_TRUE(selector.setpoint().valid);
EXPECT_EQ(selector.setpoint().data_source, SOURCE_RC);
EXPECT_EQ(selector.instance(), 0);
timestamp += 100_ms;
// Now provide input from MAVLink 0, which should get ignored
input.data_source = SOURCE_MAVLINK_0;
input.timestamp_sample = timestamp;
selector.updateWithNewInputSample(timestamp, input, 1);
EXPECT_TRUE(selector.setpoint().valid);
EXPECT_EQ(selector.setpoint().data_source, SOURCE_RC);
EXPECT_EQ(selector.instance(), 0);
timestamp += 500_ms;
// Now we update MAVLink 0 and let RC time out, so it should switch to MAVLink 0
input.data_source = SOURCE_MAVLINK_0;
input.timestamp_sample = timestamp;
selector.updateWithNewInputSample(timestamp, input, 1);
EXPECT_TRUE(selector.setpoint().valid);
EXPECT_EQ(selector.setpoint().data_source, SOURCE_MAVLINK_0);
EXPECT_EQ(selector.instance(), 1);
// If we get MAVLink back immediately, it should take over with priority (2 > 1)
input.data_source = SOURCE_MAVLINK_0;
input.timestamp_sample = timestamp;
selector.updateWithNewInputSample(timestamp, input, 0);
EXPECT_TRUE(selector.setpoint().valid);
EXPECT_EQ(selector.setpoint().data_source, SOURCE_MAVLINK_0);
EXPECT_EQ(selector.instance(), 0);
}
TEST(ManualControlSelector, MavlinkTwoInstanceDescendingPriority)
{
ManualControlSelector selector;
selector.setRcInMode(6); // Configure descending source ID priority (higher number wins)
selector.setTimeout(500_ms);
uint64_t timestamp = SOME_TIME;
// Valid MAVLink 0 input (ID 2) gets used
manual_control_setpoint_s input{};
input.data_source = SOURCE_MAVLINK_0;
input.valid = true;
input.timestamp_sample = timestamp;
selector.updateWithNewInputSample(timestamp, input, 0);
EXPECT_TRUE(selector.setpoint().valid);
EXPECT_EQ(selector.setpoint().data_source, SOURCE_MAVLINK_0);
EXPECT_EQ(selector.instance(), 0);
timestamp += 100_ms;
// Now provide input from MAVLink 1 (ID 3), which has higher priority (3 > 2) and should take over
// Now provide input from MAVLink 1, which has higher priority and should take over
input.data_source = SOURCE_MAVLINK_1;
input.timestamp_sample = timestamp;
selector.updateWithNewInputSample(timestamp, input, 2);
EXPECT_TRUE(selector.setpoint().valid);
EXPECT_EQ(selector.setpoint().data_source, SOURCE_MAVLINK_1);
EXPECT_EQ(selector.instance(), 2);
// If we get MAVLink 0 back immediately, it should be ignored since MAVLink 1 has higher priority
input.data_source = SOURCE_MAVLINK_0;
input.timestamp_sample = timestamp;
selector.updateWithNewInputSample(timestamp, input, 1);
EXPECT_TRUE(selector.setpoint().valid);
EXPECT_EQ(selector.setpoint().data_source, SOURCE_MAVLINK_1);
EXPECT_EQ(selector.instance(), 1);
// If we get MAVLink 0 back immediately, it should be ignored since MAVLink 1 has higher priority (3 > 2)
input.data_source = SOURCE_MAVLINK_0;
input.timestamp_sample = timestamp;
selector.updateWithNewInputSample(timestamp, input, 0);
EXPECT_TRUE(selector.setpoint().valid);
EXPECT_EQ(selector.setpoint().data_source, SOURCE_MAVLINK_1);
EXPECT_EQ(selector.instance(), 1);
EXPECT_EQ(selector.instance(), 2);
timestamp += 500_ms;
// Now we update MAVLink 0 and let MAVLink 1 time out, so it should switch to MAVLink 0
input.data_source = SOURCE_MAVLINK_0;
input.timestamp_sample = timestamp;
selector.updateWithNewInputSample(timestamp, input, 1);
EXPECT_TRUE(selector.setpoint().valid);
EXPECT_EQ(selector.setpoint().data_source, SOURCE_MAVLINK_0);
EXPECT_EQ(selector.instance(), 1);
}
TEST(ManualControlSelector, JoystickDescendingThenRcPriority)
{
ManualControlSelector selector;
selector.setRcInMode(8); // Configure Joystick descending, then RC
selector.setTimeout(500_ms);
uint64_t timestamp = SOME_TIME;
// Valid MAVLink 1 input gets used
manual_control_setpoint_s input{};
input.data_source = SOURCE_MAVLINK_1;
input.valid = true;
input.timestamp_sample = timestamp;
selector.updateWithNewInputSample(timestamp, input, 2);
EXPECT_TRUE(selector.setpoint().valid);
EXPECT_EQ(selector.setpoint().data_source, SOURCE_MAVLINK_1);
EXPECT_EQ(selector.instance(), 2);
timestamp += 100_ms;
// Now provide input from MAVLink 0 as well which should get ignored
input.data_source = SOURCE_MAVLINK_0;
input.timestamp_sample = timestamp;
selector.updateWithNewInputSample(timestamp, input, 1);
EXPECT_TRUE(selector.setpoint().valid);
EXPECT_EQ(selector.setpoint().data_source, SOURCE_MAVLINK_1);
EXPECT_EQ(selector.instance(), 2);
timestamp += 500_ms;
// Now we update MAVLink 0 and let MAVLink 1 time out, so it should switch to MAVLink 0
input.data_source = SOURCE_MAVLINK_0;
input.timestamp_sample = timestamp;
selector.updateWithNewInputSample(timestamp, input, 1);
EXPECT_TRUE(selector.setpoint().valid);
EXPECT_EQ(selector.setpoint().data_source, SOURCE_MAVLINK_0);
EXPECT_EQ(selector.instance(), 1);
// If we get MAVLink 1 back immediately, it should take over with priority
input.data_source = SOURCE_MAVLINK_1;
input.timestamp_sample = timestamp;
selector.updateWithNewInputSample(timestamp, input, 2);
EXPECT_TRUE(selector.setpoint().valid);
EXPECT_EQ(selector.setpoint().data_source, SOURCE_MAVLINK_1);
EXPECT_EQ(selector.instance(), 2);
timestamp += 100_ms;
// Now provide input from RC, which should get ignored
input.data_source = SOURCE_RC;
input.timestamp_sample = timestamp;
selector.updateWithNewInputSample(timestamp, input, 0);
EXPECT_TRUE(selector.setpoint().valid);
EXPECT_EQ(selector.setpoint().data_source, SOURCE_MAVLINK_1);
EXPECT_EQ(selector.instance(), 2);
timestamp += 500_ms;
// Now we update RC and let MAVLink 1 time out, so it should switch to RC
input.data_source = SOURCE_RC;
input.timestamp_sample = timestamp;
selector.updateWithNewInputSample(timestamp, input, 0);
EXPECT_TRUE(selector.setpoint().valid);
EXPECT_EQ(selector.setpoint().data_source, SOURCE_RC);
EXPECT_EQ(selector.instance(), 0);
timestamp += 100_ms;
// Now provide input from MAVLink 0, which has higher priority and should take over
input.data_source = SOURCE_MAVLINK_0;
input.timestamp_sample = timestamp;
selector.updateWithNewInputSample(timestamp, input, 1);
EXPECT_TRUE(selector.setpoint().valid);
EXPECT_EQ(selector.setpoint().data_source, SOURCE_MAVLINK_0);
EXPECT_EQ(selector.instance(), 1);
// If we get RC back immediately, it should be ignored since MAVLink 0 has higher priority
input.data_source = SOURCE_RC;
input.timestamp_sample = timestamp;
selector.updateWithNewInputSample(timestamp, input, 0);
EXPECT_TRUE(selector.setpoint().valid);
EXPECT_EQ(selector.setpoint().data_source, SOURCE_MAVLINK_0);
EXPECT_EQ(selector.instance(), 1);
timestamp += 500_ms;
// Now we update RC and let MAVLink 0 time out, so it should switch to RC
input.data_source = SOURCE_RC;
input.timestamp_sample = timestamp;
selector.updateWithNewInputSample(timestamp, input, 0);
EXPECT_TRUE(selector.setpoint().valid);
EXPECT_EQ(selector.setpoint().data_source, SOURCE_RC);
EXPECT_EQ(selector.instance(), 0);
}