From 3b2b60adde891bf1b75a5744737576ac1731f194 Mon Sep 17 00:00:00 2001
From: Matthias Grob <maetugr@gmail.com>
Date: Tue, 9 May 2023 16:53:00 +0200
Subject: [PATCH] ManualControl: put input processing in separate testable
 function

---
 src/modules/manual_control/ManualControl.cpp | 16 ++++++++++------
 src/modules/manual_control/ManualControl.hpp |  3 +++
 2 files changed, 13 insertions(+), 6 deletions(-)

diff --git a/src/modules/manual_control/ManualControl.cpp b/src/modules/manual_control/ManualControl.cpp
index 8759904290..a48b2dded8 100644
--- a/src/modules/manual_control/ManualControl.cpp
+++ b/src/modules/manual_control/ManualControl.cpp
@@ -86,7 +86,16 @@ void ManualControl::Run()
 		updateParams();
 	}
 
-	const hrt_abstime now = hrt_absolute_time();
+	processInput(hrt_absolute_time());
+
+	// reschedule timeout
+	ScheduleDelayed(200_ms);
+
+	perf_end(_loop_perf);
+}
+
+void ManualControl::processInput(hrt_abstime now)
+{
 	_selector.updateValidityOfChosenInput(now);
 
 	for (int i = 0; i < MAX_MANUAL_INPUT_COUNT; i++) {
@@ -267,11 +276,6 @@ void ManualControl::Run()
 	}
 
 	_last_time = now;
-
-	// reschedule timeout
-	ScheduleDelayed(200_ms);
-
-	perf_end(_loop_perf);
 }
 
 void ManualControl::updateParams()
diff --git a/src/modules/manual_control/ManualControl.hpp b/src/modules/manual_control/ManualControl.hpp
index 8859d72f5b..fbe4ecb784 100644
--- a/src/modules/manual_control/ManualControl.hpp
+++ b/src/modules/manual_control/ManualControl.hpp
@@ -74,6 +74,9 @@ public:
 
 	int print_status() override;
 
+protected:
+	void processInput(hrt_abstime now);
+
 private:
 	static constexpr int MAX_MANUAL_INPUT_COUNT = 3;