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manual_control: add instance to selector

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This instance is then used to schedule the callback for the
subscription.
This commit is contained in:
Julian Oes
2021-04-14 11:22:29 +02:00
committed by Matthias Grob
parent 14eb656a59
commit 8876af9150
5 changed files with 42 additions and 25 deletions
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src/modules/manual_control/ManualControlSelectorTest.cpp
+17 -9
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@@ -52,7 +52,7 @@ TEST(ManualControlSelector, RcInputOnly)
manual_control_input_s input {};
input.data_source = manual_control_input_s::SOURCE_MAVLINK_0;
input.timestamp_sample = timestamp;
selector.update_manual_control_input(timestamp, input);
selector.update_manual_control_input(timestamp, input, 0);
EXPECT_FALSE(selector.setpoint().valid);
@@ -61,10 +61,11 @@ TEST(ManualControlSelector, RcInputOnly)
// Now provide input with the correct source.
input.data_source = manual_control_input_s::SOURCE_RC;
input.timestamp_sample = timestamp;
selector.update_manual_control_input(timestamp, input);
selector.update_manual_control_input(timestamp, input, 1);
EXPECT_TRUE(selector.setpoint().valid);
EXPECT_TRUE(selector.setpoint().data_source == manual_control_setpoint_s::SOURCE_RC);
EXPECT_EQ(selector.instance(), 1);
}
TEST(ManualControlSelector, MavlinkInputOnly)
@@ -78,7 +79,7 @@ TEST(ManualControlSelector, MavlinkInputOnly)
manual_control_input_s input {};
input.data_source = manual_control_input_s::SOURCE_RC;
input.timestamp_sample = timestamp;
selector.update_manual_control_input(timestamp, input);
selector.update_manual_control_input(timestamp, input, 0);
EXPECT_FALSE(selector.setpoint().valid);
@@ -87,10 +88,11 @@ TEST(ManualControlSelector, MavlinkInputOnly)
// Now provide input with the correct source.
input.data_source = manual_control_input_s::SOURCE_MAVLINK_3;
input.timestamp_sample = timestamp;
selector.update_manual_control_input(timestamp, input);
selector.update_manual_control_input(timestamp, input, 1);
EXPECT_TRUE(selector.setpoint().valid);
EXPECT_TRUE(selector.setpoint().data_source == manual_control_setpoint_s::SOURCE_MAVLINK_3);
EXPECT_EQ(selector.instance(), 1);
// But only the first MAVLink source wins, others are too late.
@@ -99,10 +101,11 @@ TEST(ManualControlSelector, MavlinkInputOnly)
// Now provide input with the correct source.
input.data_source = manual_control_input_s::SOURCE_MAVLINK_4;
input.timestamp_sample = timestamp;
selector.update_manual_control_input(timestamp, input);
selector.update_manual_control_input(timestamp, input, 1);
EXPECT_TRUE(selector.setpoint().valid);
EXPECT_TRUE(selector.setpoint().data_source == manual_control_setpoint_s::SOURCE_MAVLINK_3);
EXPECT_EQ(selector.instance(), 1);
}
TEST(ManualControlSelector, AutoInput)
@@ -116,30 +119,33 @@ TEST(ManualControlSelector, AutoInput)
manual_control_input_s input {};
input.data_source = manual_control_input_s::SOURCE_RC;
input.timestamp_sample = timestamp;
selector.update_manual_control_input(timestamp, input);
selector.update_manual_control_input(timestamp, input, 0);
EXPECT_TRUE(selector.setpoint().valid);
EXPECT_TRUE(selector.setpoint().data_source == manual_control_setpoint_s::SOURCE_RC);
EXPECT_EQ(selector.instance(), 0);
timestamp += 100_ms;
// Now provide input from MAVLink as well which should get ignored.
input.data_source = manual_control_input_s::SOURCE_MAVLINK_0;
input.timestamp_sample = timestamp;
selector.update_manual_control_input(timestamp, input);
selector.update_manual_control_input(timestamp, input, 1);
EXPECT_TRUE(selector.setpoint().valid);
EXPECT_TRUE(selector.setpoint().data_source == manual_control_setpoint_s::SOURCE_RC);
EXPECT_EQ(selector.instance(), 0);
timestamp += 500_ms;
// Now we'll let RC time out, so it should switch to MAVLINK.
input.data_source = manual_control_input_s::SOURCE_MAVLINK_0;
input.timestamp_sample = timestamp;
selector.update_manual_control_input(timestamp, input);
selector.update_manual_control_input(timestamp, input, 1);
EXPECT_TRUE(selector.setpoint().valid);
EXPECT_TRUE(selector.setpoint().data_source == manual_control_setpoint_s::SOURCE_MAVLINK_0);
EXPECT_EQ(selector.instance(), 1);
}
TEST(ManualControlSelector, RcTimeout)
@@ -153,10 +159,11 @@ TEST(ManualControlSelector, RcTimeout)
manual_control_input_s input {};
input.data_source = manual_control_input_s::SOURCE_RC;
input.timestamp_sample = timestamp;
selector.update_manual_control_input(timestamp, input);
selector.update_manual_control_input(timestamp, input, 0);
EXPECT_TRUE(selector.setpoint().valid);
EXPECT_TRUE(selector.setpoint().data_source == manual_control_setpoint_s::SOURCE_RC);
EXPECT_EQ(selector.instance(), 0);
timestamp += 600_ms;
@@ -164,4 +171,5 @@ TEST(ManualControlSelector, RcTimeout)
selector.update_time_only(timestamp);
EXPECT_FALSE(selector.setpoint().valid);
EXPECT_EQ(selector.instance(), -1);
}