commander: allow external modes to be assigned to RC

Stores a hash of the mode name so that the same mode is always assigned to the same index independent from registration order.
2026-07-14 07:00:35 +08:00 · 2023-07-28 07:33:47 +02:00
parent 22acb08406
commit fb7e973dfd
6 changed files with 243 additions and 148 deletions
@@ -0,0 +1,101 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2023 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <gtest/gtest.h>
+#include "ModeManagement.hpp"
+
+static bool modeValid(uint8_t mode)
+{
+	return mode >= Modes::FIRST_EXTERNAL_NAV_STATE && mode <= Modes::LAST_EXTERNAL_NAV_STATE;
+}
+
+static int32_t readHash(int idx)
+{
+	char buffer[20];
+	snprintf(buffer, sizeof(buffer), "COM_MODE%u_HASH", idx);
+	param_t param = param_find(buffer);
+	int32_t value{};
+	param_get(param, &value);
+	return value;
+}
+
+TEST(ModeManagementTest, Hashes)
+{
+	param_control_autosave(false);
+
+	// Reset parameters
+	for (int i = 0; i < Modes::MAX_NUM; ++i) {
+		char buffer[20];
+		snprintf(buffer, sizeof(buffer), "COM_MODE%u_HASH", i);
+		param_t param = param_find(buffer);
+		param_reset(param);
+	}
+
+	// Add full set of modes, which stores the hashes
+	Modes modes;
+	Modes::Mode mode;
+
+	for (int i = 0; i < Modes::MAX_NUM; ++i) {
+		snprintf(mode.name, sizeof(mode.name), "mode %i", i);
+		EXPECT_EQ(modes.addExternalMode(mode), Modes::FIRST_EXTERNAL_NAV_STATE + i);
+		EXPECT_EQ(readHash(i), events::util::hash_32_fnv1a_const(mode.name));
+	}
+
+	EXPECT_FALSE(modes.hasFreeExternalModes());
+
+	// Remove all modes, except last
+	for (int i = 0; i < Modes::MAX_NUM - 1; ++i) {
+		snprintf(mode.name, sizeof(mode.name), "mode %i", i);
+		EXPECT_TRUE(modes.removeExternalMode(Modes::FIRST_EXTERNAL_NAV_STATE + i, mode.name));
+	}
+
+	// Add some mode, ensure it gets the same index
+	const int mode_to_add_idx = 3;
+	snprintf(mode.name, sizeof(mode.name), "mode %i", mode_to_add_idx);
+	EXPECT_EQ(modes.addExternalMode(mode), Modes::FIRST_EXTERNAL_NAV_STATE + mode_to_add_idx);
+
+	// Try to add another one with the same name: should succeed, with the hash of the added index reset
+	uint8_t added_mode_nav_state = modes.addExternalMode(mode);
+	EXPECT_EQ(readHash(added_mode_nav_state - Modes::FIRST_EXTERNAL_NAV_STATE), 0);
+
+	// 3 Modes are used now. Add N-3 new ones which must overwrite previous hashes
+	for (int i = 0; i < Modes::MAX_NUM - 3; ++i) {
+		snprintf(mode.name, sizeof(mode.name), "new mode %i", i);
+		added_mode_nav_state = modes.addExternalMode(mode);
+		EXPECT_TRUE(modeValid(added_mode_nav_state));
+		EXPECT_EQ(readHash(added_mode_nav_state - Modes::FIRST_EXTERNAL_NAV_STATE),
+			  events::util::hash_32_fnv1a_const(mode.name));
+	}
+
+	EXPECT_FALSE(modes.hasFreeExternalModes());
+}