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