/**************************************************************************** * * Copyright (C) 2022 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. * ****************************************************************************/ #define MODULE_NAME "rc_update" #include #include "rc_update.h" using namespace rc_update; class TestRCUpdate : public RCUpdate { public: void UpdateManualSwitches(const hrt_abstime ×tamp_sample) { RCUpdate::UpdateManualSwitches(timestamp_sample); } void update_rc_functions() { RCUpdate::update_rc_functions(); } 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 { // Disable autosaving parameters to avoid busy loop in param_set() param_control_autosave(false); } void checkModeSlotSwitch(float channel_value, uint8_t expected_slot) { // GIVEN: First channel is configured as mode switch _param_rc_map_fltmode.set(1); EXPECT_EQ(_param_rc_map_fltmode.get(), 1); // GIVEN: First channel has some value _rc_update.setChannel(0, channel_value); // WHEN: we update the switches two times to pass the simple outlier protection _rc_update.UpdateManualSwitches(0); _rc_update.UpdateManualSwitches(0); // THEN: we receive the expected mode slot uORB::SubscriptionData manual_control_switches_sub{ORB_ID(manual_control_switches)}; manual_control_switches_sub.update(); 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) { // 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(); // GIVEN: First channel has some value _rc_update.setChannel(channel - 1, channel_value); // WHEN: we update the switches 4 times: // - initiate the button press // - keep the same button pressed // - hold the button for 50ms // - pass the simple outlier protection _rc_update.UpdateManualSwitches(0); _rc_update.UpdateManualSwitches(0); _rc_update.UpdateManualSwitches(51_ms); _rc_update.UpdateManualSwitches(51_ms); // THEN: we receive the expected mode slot uORB::SubscriptionData manual_control_switches_sub{ORB_ID(manual_control_switches)}; manual_control_switches_sub.update(); EXPECT_EQ(manual_control_switches_sub.get().mode_slot, expected_slot); } TestRCUpdate _rc_update; DEFINE_PARAMETERS( (ParamInt) _param_rc_map_fltmode, (ParamInt) _param_rc_map_fltm_btn ) }; TEST_F(RCUpdateTest, ModeSlotUnassigned) { // GIVEN: Default configuration with no assigned mode switch EXPECT_EQ(_param_rc_map_fltmode.get(), 0); // WHEN: we update the switches two times to pass the simple outlier protection _rc_update.UpdateManualSwitches(0); _rc_update.UpdateManualSwitches(0); // THEN: we receive no mode slot uORB::SubscriptionData manual_control_switches_sub{ORB_ID(manual_control_switches)}; manual_control_switches_sub.update(); EXPECT_EQ(manual_control_switches_sub.get().mode_slot, 0); // manual_control_switches_s::MODE_SLOT_NONE } TEST_F(RCUpdateTest, ModeSlotSwitchAllValues) { checkModeSlotSwitch(-1.f, 1); // manual_control_switches_s::MODE_SLOT_1 checkModeSlotSwitch(-.5f, 2); // manual_control_switches_s::MODE_SLOT_2 checkModeSlotSwitch(-.1f, 3); // manual_control_switches_s::MODE_SLOT_3 checkModeSlotSwitch(0.f, 4); // manual_control_switches_s::MODE_SLOT_4 checkModeSlotSwitch(.5f, 5); // manual_control_switches_s::MODE_SLOT_5 checkModeSlotSwitch(1.f, 6); // manual_control_switches_s::MODE_SLOT_6 } TEST_F(RCUpdateTest, ModeSlotButtonAllValues) { checkModeSlotButton(1, 1, -1.f, 0); // button not pressed -> manual_control_switches_s::MODE_SLOT_NONE checkModeSlotButton(1, 1, 0.f, 0); // button not pressed over threshold -> manual_control_switches_s::MODE_SLOT_NONE checkModeSlotButton(1, 1, 1.f, 1); // button 1 pressed -> manual_control_switches_s::MODE_SLOT_1 checkModeSlotButton(1, 2, 1.f, 0); // button 2 pressed but not configured -> manual_control_switches_s::MODE_SLOT_NONE checkModeSlotButton(3, 2, 1.f, 2); // button 2 pressed -> manual_control_switches_s::MODE_SLOT_2 checkModeSlotButton(3, 3, 1.f, 0); // button 3 pressed but not configured -> manual_control_switches_s::MODE_SLOT_NONE checkModeSlotButton(7, 3, 1.f, 3); // button 3 pressed -> manual_control_switches_s::MODE_SLOT_3 checkModeSlotButton(7, 4, 1.f, 0); // button 4 pressed but not configured -> manual_control_switches_s::MODE_SLOT_NONE checkModeSlotButton(15, 4, 1.f, 4); // button 4 pressed -> manual_control_switches_s::MODE_SLOT_4 checkModeSlotButton(15, 5, 1.f, 0); // button 5 pressed but not configured -> manual_control_switches_s::MODE_SLOT_NONE checkModeSlotButton(31, 5, 1.f, 5); // button 5 pressed -> manual_control_switches_s::MODE_SLOT_5 checkModeSlotButton(31, 6, 1.f, 0); // button 6 pressed but not configured -> manual_control_switches_s::MODE_SLOT_NONE checkModeSlotButton(63, 6, 1.f, 6); // button 6 pressed -> manual_control_switches_s::MODE_SLOT_6 }