PX4-Autopilot/src/modules/manual_control/ManualControlSelectorTest.cpp

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#include "ManualControlSelector.hpp"
#include <gtest/gtest.h>
#include <drivers/drv_hrt.h>

using namespace time_literals;
using namespace manual_control;

static constexpr uint64_t some_time = 1234568;


TEST(ManualControlSelector, RcInputOnly)
{
	ManualControlSelector selector;
	selector.set_rc_in_mode(0);
	selector.set_timeout(500_ms);

	uint64_t timestamp = some_time;

	manual_control_input_s input {};
	input.data_source = manual_control_input_s::SOURCE_MAVLINK_0;
	input.timestamp_sample = timestamp;
	selector.update_manual_control_input(timestamp, input);

	EXPECT_FALSE(selector.setpoint().valid);

	timestamp += 100_ms;

	// Now provide input with the correct source.
	input.data_source = manual_control_input_s::SOURCE_RC;
	input.timestamp_sample = timestamp;
	selector.update_manual_control_input(timestamp, input);

	EXPECT_TRUE(selector.setpoint().valid);
	EXPECT_TRUE(selector.setpoint().data_source == manual_control_setpoint_s::SOURCE_RC);
}

TEST(ManualControlSelector, MavlinkInputOnly)
{
	ManualControlSelector selector;
	selector.set_rc_in_mode(1);
	selector.set_timeout(500_ms);

	uint64_t timestamp = some_time;

	manual_control_input_s input {};
	input.data_source = manual_control_input_s::SOURCE_RC;
	input.timestamp_sample = timestamp;
	selector.update_manual_control_input(timestamp, input);

	EXPECT_FALSE(selector.setpoint().valid);

	timestamp += 100_ms;

	// Now provide input with the correct source.
	input.data_source = manual_control_input_s::SOURCE_MAVLINK_3;
	input.timestamp_sample = timestamp;
	selector.update_manual_control_input(timestamp, input);

	EXPECT_TRUE(selector.setpoint().valid);
	EXPECT_TRUE(selector.setpoint().data_source == manual_control_setpoint_s::SOURCE_MAVLINK_3);

	// But only the first MAVLink source wins, others are too late.

	timestamp += 100_ms;

	// Now provide input with the correct source.
	input.data_source = manual_control_input_s::SOURCE_MAVLINK_4;
	input.timestamp_sample = timestamp;
	selector.update_manual_control_input(timestamp, input);

	EXPECT_TRUE(selector.setpoint().valid);
	EXPECT_TRUE(selector.setpoint().data_source == manual_control_setpoint_s::SOURCE_MAVLINK_3);
}

TEST(ManualControlSelector, AutoInput)
{
	ManualControlSelector selector;
	selector.set_rc_in_mode(3);
	selector.set_timeout(500_ms);

	uint64_t timestamp = some_time;

	manual_control_input_s input {};
	input.data_source = manual_control_input_s::SOURCE_RC;
	input.timestamp_sample = timestamp;
	selector.update_manual_control_input(timestamp, input);

	EXPECT_TRUE(selector.setpoint().valid);
	EXPECT_TRUE(selector.setpoint().data_source == manual_control_setpoint_s::SOURCE_RC);

	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.timestamp_sample = timestamp;
	selector.update_manual_control_input(timestamp, input);

	EXPECT_TRUE(selector.setpoint().valid);
	EXPECT_TRUE(selector.setpoint().data_source == manual_control_setpoint_s::SOURCE_RC);

	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.timestamp_sample = timestamp;
	selector.update_manual_control_input(timestamp, input);

	EXPECT_TRUE(selector.setpoint().valid);
	EXPECT_TRUE(selector.setpoint().data_source == manual_control_setpoint_s::SOURCE_MAVLINK_0);
}

TEST(ManualControlSelector, RcTimeout)
{
	ManualControlSelector selector;
	selector.set_rc_in_mode(0);
	selector.set_timeout(500_ms);

	uint64_t timestamp = some_time;

	manual_control_input_s input {};
	input.data_source = manual_control_input_s::SOURCE_RC;
	input.timestamp_sample = timestamp;
	selector.update_manual_control_input(timestamp, input);

	EXPECT_TRUE(selector.setpoint().valid);
	EXPECT_TRUE(selector.setpoint().data_source == manual_control_setpoint_s::SOURCE_RC);

	timestamp += 600_ms;

	// Update, to make sure it notices the timeout
	selector.update_time_only(timestamp);

	EXPECT_FALSE(selector.setpoint().valid);
}