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RCUpdateTest: fix unit test parameters + restoring state after test

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Channel values stay over one unit test but some tests assumed they are
reset each time. Reset the channel after these mode button tests.

Parameters survive between unit tests presumably as long as
the bianry runs. Reset them if a test requires that.
This commit is contained in:
Matthias Grob
2023-07-03 14:51:36 +02:00
parent e127ada07b
commit 392d445783
1 changed files with 16 additions and 9 deletions
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src/modules/rc_update/RCUpdateTest.cpp
+16 -9
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@@ -42,16 +42,14 @@ class TestRCUpdate : public RCUpdate
{
public:
void UpdateManualSwitches(const hrt_abstime &timestamp_sample) { RCUpdate::UpdateManualSwitches(timestamp_sample); }
void update_rc_functions() { RCUpdate::update_rc_functions(); }
void updateParams() { RCUpdate::updateParams(); }
void setChannel(size_t index, float channel_value) { _rc.channels[index] = channel_value; }
};
class RCUpdateTest : public ::testing::Test, ModuleParams
{
public:
RCUpdateTest() : ModuleParams(nullptr) {}
void SetUp() override
RCUpdateTest() : ModuleParams(nullptr)
{
// Disable autosaving parameters to avoid busy loop in param_set()
param_control_autosave(false);
@@ -61,7 +59,9 @@ public:
{
// GIVEN: First channel is configured as mode switch
_param_rc_map_fltmode.set(1);
_param_rc_map_fltmode.commit();
EXPECT_EQ(_param_rc_map_fltmode.get(), 1);
_rc_update.updateParams();
// GIVEN: First channel has some value
_rc_update.setChannel(0, channel_value);
@@ -76,13 +76,17 @@ public:
EXPECT_EQ(manual_control_switches_sub.get().mode_slot, expected_slot);
}
void checkModeSlotButton(uint8_t button_configuration, uint8_t channel, float channel_value, uint8_t expected_slot)
void checkModeSlotButton(uint8_t button_bitmask, uint8_t channel, float channel_value, uint8_t expected_slot)
{
// GIVEN: No mode switch is mapped
_param_rc_map_fltmode.set(0);
_param_rc_map_fltmode.commit();
EXPECT_EQ(_param_rc_map_fltmode.get(), 0);
// GIVEN: Buttons are configured
_param_rc_map_fltm_btn.set(button_configuration);
EXPECT_EQ(_param_rc_map_fltm_btn.get(), button_configuration);
// GIVEN: buttons are mapped
_rc_update.update_rc_functions();
_param_rc_map_fltm_btn.set(button_bitmask);
_param_rc_map_fltm_btn.commit();
EXPECT_EQ(_param_rc_map_fltm_btn.get(), button_bitmask);
_rc_update.updateParams();
// GIVEN: First channel has some value
_rc_update.setChannel(channel - 1, channel_value);
@@ -101,6 +105,9 @@ public:
manual_control_switches_sub.update();
EXPECT_EQ(manual_control_switches_sub.get().mode_slot, expected_slot);
// Reset channel value for the next test
_rc_update.setChannel(channel - 1, 0.f);
}
TestRCUpdate _rc_update;