PX4-Autopilot/src/modules/rc_update/RCUpdateTest.cpp

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#define MODULE_NAME "rc_update"

#include <gtest/gtest.h>
#include "rc_update.h"

using namespace rc_update;

class TestRCUpdate : public RCUpdate
{
public:
	void UpdateManualSwitches(const hrt_abstime &timestamp_sample) { RCUpdate::UpdateManualSwitches(timestamp_sample); }
	void updateParams() { RCUpdate::updateParams(); }
	void setChannel(size_t index, float channel_value) { _rc.channels[index] = channel_value; }
};

class RCUpdateTest : public ::testing::Test, ModuleParams
{
public:
	RCUpdateTest() : ModuleParams(nullptr)
	{
		// 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);
		_param_rc_map_fltmode.commit();
		EXPECT_EQ(_param_rc_map_fltmode.get(), 1);
		_rc_update.updateParams();
		// 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_s> 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_bitmask, uint8_t channel, float channel_value, uint8_t expected_slot)
	{
		// GIVEN: No mode switch is mapped
		_param_rc_map_fltmode.set(0);
		_param_rc_map_fltmode.commit();
		EXPECT_EQ(_param_rc_map_fltmode.get(), 0);
		// GIVEN: Buttons are configured
		_param_rc_map_fltm_btn.set(button_bitmask);
		_param_rc_map_fltm_btn.commit();
		EXPECT_EQ(_param_rc_map_fltm_btn.get(), button_bitmask);
		_rc_update.updateParams();
		// 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_s> 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);

		// Reset channel value for the next test
		_rc_update.setChannel(channel - 1, 0.f);
	}

	TestRCUpdate _rc_update;

	DEFINE_PARAMETERS(
		(ParamInt<px4::params::RC_MAP_FLTMODE>) _param_rc_map_fltmode,
		(ParamInt<px4::params::RC_MAP_FLTM_BTN>) _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_s> 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
}