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Use backwards compatible manual_control_setpoint instead of manual_control_input

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This commit is contained in:
Matthias Grob
2021-11-03 11:33:05 +01:00
parent 423aadcc4f
commit fabf865411
30 changed files with 252 additions and 208 deletions
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src/modules/manual_control/ManualControlSelectorTest.cpp
+26 -26
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@@ -48,16 +48,16 @@ TEST(ManualControlSelector, RcInputContinuous)
uint64_t timestamp = some_time;
// Now provide input with the correct source.
manual_control_input_s input {};
input.data_source = manual_control_input_s::SOURCE_RC;
manual_control_setpoint_s input {};
input.data_source = manual_control_setpoint_s::SOURCE_RC;
input.timestamp_sample = timestamp;
for (int i = 0; i < 5; i++) {
selector.updateWithNewInputSample(timestamp, input, 1);
EXPECT_TRUE(selector.setpoint().valid);
EXPECT_EQ(selector.setpoint().chosen_input.timestamp_sample, timestamp);
EXPECT_EQ(selector.setpoint().timestamp_sample, timestamp);
EXPECT_EQ(selector.instance(), 1);
EXPECT_TRUE(selector.setpoint().chosen_input.data_source == manual_control_input_s::SOURCE_RC);
EXPECT_TRUE(selector.setpoint().data_source == manual_control_setpoint_s::SOURCE_RC);
timestamp += 100_ms;
input.timestamp_sample = timestamp;
}
@@ -71,8 +71,8 @@ TEST(ManualControlSelector, RcInputOnly)
uint64_t timestamp = some_time;
manual_control_input_s input {};
input.data_source = manual_control_input_s::SOURCE_MAVLINK_0;
manual_control_setpoint_s input {};
input.data_source = manual_control_setpoint_s::SOURCE_MAVLINK_0;
input.timestamp_sample = timestamp;
selector.updateWithNewInputSample(timestamp, input, 0);
@@ -81,12 +81,12 @@ TEST(ManualControlSelector, RcInputOnly)
timestamp += 100_ms;
// Now provide input with the correct source.
input.data_source = manual_control_input_s::SOURCE_RC;
input.data_source = manual_control_setpoint_s::SOURCE_RC;
input.timestamp_sample = timestamp;
selector.updateWithNewInputSample(timestamp, input, 1);
EXPECT_TRUE(selector.setpoint().valid);
EXPECT_TRUE(selector.setpoint().chosen_input.data_source == manual_control_input_s::SOURCE_RC);
EXPECT_TRUE(selector.setpoint().data_source == manual_control_setpoint_s::SOURCE_RC);
EXPECT_EQ(selector.instance(), 1);
}
@@ -98,8 +98,8 @@ TEST(ManualControlSelector, MavlinkInputOnly)
uint64_t timestamp = some_time;
manual_control_input_s input {};
input.data_source = manual_control_input_s::SOURCE_RC;
manual_control_setpoint_s input {};
input.data_source = manual_control_setpoint_s::SOURCE_RC;
input.timestamp_sample = timestamp;
selector.updateWithNewInputSample(timestamp, input, 0);
@@ -108,23 +108,23 @@ TEST(ManualControlSelector, MavlinkInputOnly)
timestamp += 100_ms;
// Now provide input with the correct source.
input.data_source = manual_control_input_s::SOURCE_MAVLINK_3;
input.data_source = manual_control_setpoint_s::SOURCE_MAVLINK_3;
input.timestamp_sample = timestamp;
selector.updateWithNewInputSample(timestamp, input, 1);
EXPECT_TRUE(selector.setpoint().valid);
EXPECT_TRUE(selector.setpoint().chosen_input.data_source == manual_control_input_s::SOURCE_MAVLINK_3);
EXPECT_TRUE(selector.setpoint().data_source == manual_control_setpoint_s::SOURCE_MAVLINK_3);
EXPECT_EQ(selector.instance(), 1);
timestamp += 100_ms;
// But only the first MAVLink source wins, others are too late.
input.data_source = manual_control_input_s::SOURCE_MAVLINK_4;
input.data_source = manual_control_setpoint_s::SOURCE_MAVLINK_4;
input.timestamp_sample = timestamp;
selector.updateWithNewInputSample(timestamp, input, 1);
EXPECT_TRUE(selector.setpoint().valid);
EXPECT_TRUE(selector.setpoint().chosen_input.data_source == manual_control_input_s::SOURCE_MAVLINK_3);
EXPECT_TRUE(selector.setpoint().data_source == manual_control_setpoint_s::SOURCE_MAVLINK_3);
EXPECT_EQ(selector.instance(), 1);
}
@@ -136,35 +136,35 @@ TEST(ManualControlSelector, AutoInput)
uint64_t timestamp = some_time;
manual_control_input_s input {};
input.data_source = manual_control_input_s::SOURCE_RC;
manual_control_setpoint_s input {};
input.data_source = manual_control_setpoint_s::SOURCE_RC;
input.timestamp_sample = timestamp;
selector.updateWithNewInputSample(timestamp, input, 0);
EXPECT_TRUE(selector.setpoint().valid);
EXPECT_TRUE(selector.setpoint().chosen_input.data_source == manual_control_input_s::SOURCE_RC);
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.data_source = manual_control_setpoint_s::SOURCE_MAVLINK_0;
input.timestamp_sample = timestamp;
selector.updateWithNewInputSample(timestamp, input, 1);
EXPECT_TRUE(selector.setpoint().valid);
EXPECT_TRUE(selector.setpoint().chosen_input.data_source == manual_control_input_s::SOURCE_RC);
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.data_source = manual_control_setpoint_s::SOURCE_MAVLINK_0;
input.timestamp_sample = timestamp;
selector.updateWithNewInputSample(timestamp, input, 1);
EXPECT_TRUE(selector.setpoint().valid);
EXPECT_TRUE(selector.setpoint().chosen_input.data_source == manual_control_input_s::SOURCE_MAVLINK_0);
EXPECT_TRUE(selector.setpoint().data_source == manual_control_setpoint_s::SOURCE_MAVLINK_0);
EXPECT_EQ(selector.instance(), 1);
}
@@ -176,13 +176,13 @@ TEST(ManualControlSelector, RcTimeout)
uint64_t timestamp = some_time;
manual_control_input_s input {};
input.data_source = manual_control_input_s::SOURCE_RC;
manual_control_setpoint_s input {};
input.data_source = manual_control_setpoint_s::SOURCE_RC;
input.timestamp_sample = timestamp;
selector.updateWithNewInputSample(timestamp, input, 0);
EXPECT_TRUE(selector.setpoint().valid);
EXPECT_TRUE(selector.setpoint().chosen_input.data_source == manual_control_input_s::SOURCE_RC);
EXPECT_TRUE(selector.setpoint().data_source == manual_control_setpoint_s::SOURCE_RC);
EXPECT_EQ(selector.instance(), 0);
timestamp += 600_ms;
@@ -202,8 +202,8 @@ TEST(ManualControlSelector, RcOutdated)
uint64_t timestamp = some_time;
manual_control_input_s input {};
input.data_source = manual_control_input_s::SOURCE_RC;
manual_control_setpoint_s input {};
input.data_source = manual_control_setpoint_s::SOURCE_RC;
input.timestamp_sample = timestamp - 600_ms; // First sample is already outdated
selector.updateWithNewInputSample(timestamp, input, 0);