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327 lines
16 KiB
C++
327 lines
16 KiB
C++
/****************************************************************************
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*
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* Copyright (C) 2022 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 "rc_update.h"
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using namespace rc_update;
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class TestRCUpdate : public RCUpdate
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{
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public:
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void UpdateManualSwitches(const hrt_abstime ×tamp_sample) { RCUpdate::UpdateManualSwitches(timestamp_sample); }
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void updateParams() { RCUpdate::updateParams(); }
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void setChannel(size_t index, float channel_value) { _rc.channels[index] = channel_value; }
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};
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class RCUpdateTest : public ::testing::Test, ModuleParams
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{
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public:
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RCUpdateTest() : ModuleParams(nullptr)
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{
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// Disable autosaving parameters to avoid busy loop in param_set()
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param_control_autosave(false);
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}
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void checkModeSlotSwitch(float channel_value, uint8_t expected_slot)
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{
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// GIVEN: First channel is configured as mode switch
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_param_rc_map_fltmode.set(1);
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_param_rc_map_fltmode.commit();
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EXPECT_EQ(_param_rc_map_fltmode.get(), 1);
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_rc_update.updateParams();
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// GIVEN: First channel has some value
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_rc_update.setChannel(0, channel_value);
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// WHEN: we update the switches two times to pass the simple outlier protection
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_rc_update.UpdateManualSwitches(0);
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_rc_update.UpdateManualSwitches(0);
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// THEN: we receive the expected mode slot
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uORB::SubscriptionData<manual_control_switches_s> manual_control_switches_sub{ORB_ID(manual_control_switches)};
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EXPECT_EQ(manual_control_switches_sub.get().mode_slot, expected_slot);
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}
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void checkModeSlotButton(uint8_t button_bitmask, uint8_t channel, float channel_value, uint8_t expected_slot)
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{
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// GIVEN: No mode switch is mapped
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_param_rc_map_fltmode.set(0);
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_param_rc_map_fltmode.commit();
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EXPECT_EQ(_param_rc_map_fltmode.get(), 0);
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// GIVEN: Buttons are configured
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_param_rc_map_fltm_btn.set(button_bitmask);
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_param_rc_map_fltm_btn.commit();
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EXPECT_EQ(_param_rc_map_fltm_btn.get(), button_bitmask);
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_rc_update.updateParams();
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// GIVEN: First channel has some value
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_rc_update.setChannel(channel - 1, channel_value);
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// WHEN: we update the switches 4 times:
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// - initiate the button press
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// - keep the same button pressed
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// - hold the button for 50ms
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// - pass the simple outlier protection
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_rc_update.UpdateManualSwitches(0);
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_rc_update.UpdateManualSwitches(0);
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_rc_update.UpdateManualSwitches(51_ms);
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_rc_update.UpdateManualSwitches(51_ms);
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// THEN: we receive the expected mode slot
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uORB::SubscriptionData<manual_control_switches_s> manual_control_switches_sub{ORB_ID(manual_control_switches)};
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EXPECT_EQ(manual_control_switches_sub.get().mode_slot, expected_slot);
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// Reset channel value for the next test
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_rc_update.setChannel(channel - 1, 0.f);
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}
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void checkReturnSwitch(float channel_value, float threshold, uint8_t expected_position)
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{
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// GIVEN: First channel is configured as return switch
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_param_rc_map_return_sw.set(1);
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_param_rc_map_return_sw.commit();
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_param_rc_return_th.set(threshold);
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_param_rc_return_th.commit();
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_rc_update.updateParams();
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EXPECT_EQ(_param_rc_map_return_sw.get(), 1);
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EXPECT_FLOAT_EQ(_param_rc_return_th.get(), threshold);
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// GIVEN: First channel has some value
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_rc_update.setChannel(0, channel_value);
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// WHEN: we update the switches two times to pass the simple outlier protection
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_rc_update.UpdateManualSwitches(0);
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_rc_update.UpdateManualSwitches(0);
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// THEN: we receive the expected mode slot
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uORB::SubscriptionData<manual_control_switches_s> manual_control_switches_sub{ORB_ID(manual_control_switches)};
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EXPECT_EQ(manual_control_switches_sub.get().return_switch, expected_position);
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}
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void checkPayloadPowerSwitch(float channel_value, float on_threshold, float mid_threshold, uint8_t expected_position)
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{
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// GIVEN: First channel is configured as payload power switch
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_param_rc_map_pay_sw.set(1);
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_param_rc_map_pay_sw.commit();
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_param_rc_payload_th.set(on_threshold);
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_param_rc_payload_th.commit();
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_param_rc_payload_midth.set(mid_threshold);
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_param_rc_payload_midth.commit();
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_rc_update.updateParams();
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EXPECT_EQ(_param_rc_map_pay_sw.get(), 1);
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EXPECT_FLOAT_EQ(_param_rc_payload_th.get(), on_threshold);
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EXPECT_FLOAT_EQ(_param_rc_payload_midth.get(), mid_threshold);
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// GIVEN: First channel has some value
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_rc_update.setChannel(0, channel_value);
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// WHEN: we update the switches two times to pass the simple outlier protection
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_rc_update.UpdateManualSwitches(0);
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_rc_update.UpdateManualSwitches(0);
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// THEN: we receive the expected mode slot
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uORB::SubscriptionData<manual_control_switches_s> manual_control_switches_sub{ORB_ID(manual_control_switches)};
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EXPECT_EQ(manual_control_switches_sub.get().payload_power_switch, expected_position);
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}
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TestRCUpdate _rc_update;
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DEFINE_PARAMETERS(
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(ParamInt<px4::params::RC_MAP_FLTMODE>) _param_rc_map_fltmode,
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(ParamInt<px4::params::RC_MAP_FLTM_BTN>) _param_rc_map_fltm_btn,
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(ParamInt<px4::params::RC_MAP_RETURN_SW>) _param_rc_map_return_sw,
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(ParamFloat<px4::params::RC_RETURN_TH>) _param_rc_return_th,
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(ParamInt<px4::params::RC_MAP_PAY_SW>) _param_rc_map_pay_sw,
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(ParamFloat<px4::params::RC_PAYLOAD_TH>) _param_rc_payload_th,
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(ParamFloat<px4::params::RC_PAYLOAD_MIDTH>) _param_rc_payload_midth
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)
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};
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TEST_F(RCUpdateTest, ModeSlotUnassigned)
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{
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// GIVEN: Default configuration with no assigned mode switch
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EXPECT_EQ(_param_rc_map_fltmode.get(), 0);
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// WHEN: we update the switches two times to pass the simple outlier protection
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_rc_update.UpdateManualSwitches(0);
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_rc_update.UpdateManualSwitches(0);
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// THEN: we receive no mode slot
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uORB::SubscriptionData<manual_control_switches_s> manual_control_switches_sub{ORB_ID(manual_control_switches)};
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EXPECT_EQ(manual_control_switches_sub.get().mode_slot, 0); // manual_control_switches_s::MODE_SLOT_NONE
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}
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TEST_F(RCUpdateTest, ModeSlotSwitchAllValues)
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{
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checkModeSlotSwitch(-1.f, 1); // manual_control_switches_s::MODE_SLOT_1
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checkModeSlotSwitch(-.5f, 2); // manual_control_switches_s::MODE_SLOT_2
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checkModeSlotSwitch(-.1f, 3); // manual_control_switches_s::MODE_SLOT_3
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checkModeSlotSwitch(0.f, 4); // manual_control_switches_s::MODE_SLOT_4
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checkModeSlotSwitch(.5f, 5); // manual_control_switches_s::MODE_SLOT_5
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checkModeSlotSwitch(1.f, 6); // manual_control_switches_s::MODE_SLOT_6
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}
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TEST_F(RCUpdateTest, ModeSlotButtonAllValues)
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{
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checkModeSlotButton(1, 1, -1.f, 0); // button not pressed -> manual_control_switches_s::MODE_SLOT_NONE
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checkModeSlotButton(1, 1, 0.f, 0); // button not pressed over threshold -> manual_control_switches_s::MODE_SLOT_NONE
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checkModeSlotButton(1, 1, 1.f, 1); // button 1 pressed -> manual_control_switches_s::MODE_SLOT_1
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checkModeSlotButton(1, 2, 1.f, 0); // button 2 pressed but not configured -> manual_control_switches_s::MODE_SLOT_NONE
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checkModeSlotButton(3, 2, 1.f, 2); // button 2 pressed -> manual_control_switches_s::MODE_SLOT_2
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checkModeSlotButton(3, 3, 1.f, 0); // button 3 pressed but not configured -> manual_control_switches_s::MODE_SLOT_NONE
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checkModeSlotButton(7, 3, 1.f, 3); // button 3 pressed -> manual_control_switches_s::MODE_SLOT_3
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checkModeSlotButton(7, 4, 1.f, 0); // button 4 pressed but not configured -> manual_control_switches_s::MODE_SLOT_NONE
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checkModeSlotButton(15, 4, 1.f, 4); // button 4 pressed -> manual_control_switches_s::MODE_SLOT_4
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checkModeSlotButton(15, 5, 1.f, 0); // button 5 pressed but not configured -> manual_control_switches_s::MODE_SLOT_NONE
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checkModeSlotButton(31, 5, 1.f, 5); // button 5 pressed -> manual_control_switches_s::MODE_SLOT_5
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checkModeSlotButton(31, 6, 1.f, 0); // button 6 pressed but not configured -> manual_control_switches_s::MODE_SLOT_NONE
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checkModeSlotButton(63, 6, 1.f, 6); // button 6 pressed -> manual_control_switches_s::MODE_SLOT_6
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}
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TEST_F(RCUpdateTest, ReturnSwitchUnassigned)
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{
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// GIVEN: Default configuration with no assigned return switch
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EXPECT_EQ(_param_rc_map_return_sw.get(), 0);
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// WHEN: we update the switches two times to pass the simple outlier protection
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_rc_update.UpdateManualSwitches(0);
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_rc_update.UpdateManualSwitches(0);
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// THEN: we receive an unmapped return switch state
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uORB::SubscriptionData<manual_control_switches_s> manual_control_switches_sub{ORB_ID(manual_control_switches)};
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EXPECT_EQ(manual_control_switches_sub.get().return_switch, 0); // manual_control_switches_s::SWITCH_POS_NONE
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}
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TEST_F(RCUpdateTest, ReturnSwitchPositiveThresholds)
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{
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checkReturnSwitch(-1.f, 0.5f, 3); // Below threshold -> SWITCH_POS_OFF
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checkReturnSwitch(0.f, 0.5f, 3); // On threshold -> SWITCH_POS_OFF
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checkReturnSwitch(.001f, 0.5f, 1); // Slightly above threshold -> SWITCH_POS_ON
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checkReturnSwitch(1.f, 0.5f, 1); // Above threshold -> SWITCH_POS_ON
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checkReturnSwitch(-1.f, 0.75f, 3); // Below threshold -> SWITCH_POS_OFF
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checkReturnSwitch(0.f, 0.75f, 3); // Below threshold -> SWITCH_POS_OFF
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checkReturnSwitch(.5f, 0.75f, 3); // On threshold -> SWITCH_POS_OFF
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checkReturnSwitch(.501f, 0.75f, 1); // Slightly above threshold -> SWITCH_POS_ON
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checkReturnSwitch(1.f, 0.75f, 1); // Above threshold -> SWITCH_POS_ON
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checkReturnSwitch(-1.f, 0.f, 3); // On minimum threshold -> SWITCH_POS_OFF
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checkReturnSwitch(-.999f, 0.f, 1); // Slightly above minimum threshold -> SWITCH_POS_ON
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checkReturnSwitch(1.f, 0.f, 1); // Above minimum threshold -> SWITCH_POS_ON
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checkReturnSwitch(-1.f, 1.f, 3); // Below maximum threshold -> SWITCH_POS_OFF
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checkReturnSwitch(1.f, 1.f, 3); // On maximum threshold -> SWITCH_POS_OFF
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}
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TEST_F(RCUpdateTest, ReturnSwitchNegativeThresholds)
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{
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checkReturnSwitch(1.f, -0.5f, 3); // Above threshold -> SWITCH_POS_OFF
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checkReturnSwitch(0.f, -0.5f, 3); // On threshold -> SWITCH_POS_OFF
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checkReturnSwitch(-.001f, -0.5f, 1); // Slightly below threshold -> SWITCH_POS_ON
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checkReturnSwitch(-1.f, -0.5f, 1); // Below threshold -> SWITCH_POS_ON
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checkReturnSwitch(1.f, -0.75f, 3); // Above threshold -> SWITCH_POS_OFF
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checkReturnSwitch(.5f, -0.75f, 3); // On threshold -> SWITCH_POS_OFF
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checkReturnSwitch(.499f, -0.75f, 1); // Slightly below threshold -> SWITCH_POS_ON
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checkReturnSwitch(-1.f, -0.75f, 1); // Below threshold -> SWITCH_POS_ON
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checkReturnSwitch(1.f, -1.f, 3); // On maximum threshold -> SWITCH_POS_OFF
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checkReturnSwitch(.999f, -1.f, 1); // Slighly below maximum threshold -> SWITCH_POS_ON
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checkReturnSwitch(-1.f, -1.f, 1); // Below minimum threshold -> SWITCH_POS_ON
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checkReturnSwitch(1.f, -.001f, 3); // Above minimum threshold -> SWITCH_POS_OFF
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checkReturnSwitch(-1.f, -.001f, 1); // Slightly below minimum threshold -> SWITCH_POS_OFF
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}
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TEST_F(RCUpdateTest, PayloadPower2WaySwitchPositiveThresholds)
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{
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checkPayloadPowerSwitch(-1.f, 0.5f, 0.5f, 3); // Below threshold -> SWITCH_POS_OFF
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checkPayloadPowerSwitch(0.f, 0.5f, 0.5f, 3); // On threshold -> SWITCH_POS_OFF
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checkPayloadPowerSwitch(.001f, 0.5f, 0.5f, 1); // Slightly above threshold -> SWITCH_POS_ON
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checkPayloadPowerSwitch(1.f, 0.5f, 0.5f, 1); // Above threshold -> SWITCH_POS_ON
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checkPayloadPowerSwitch(-1.f, 0.75f, 0.75f, 3); // Below threshold -> SWITCH_POS_OFF
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checkPayloadPowerSwitch(0.f, 0.75f, 0.75f, 3); // Below threshold -> SWITCH_POS_OFF
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checkPayloadPowerSwitch(.5f, 0.75f, 0.75f, 3); // On threshold -> SWITCH_POS_OFF
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checkPayloadPowerSwitch(.501f, 0.75f, 0.75f, 1); // Slightly above threshold -> SWITCH_POS_ON
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checkPayloadPowerSwitch(1.f, 0.75f, 0.75f, 1); // Above threshold -> SWITCH_POS_ON
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checkPayloadPowerSwitch(-1.f, 0.f, 0.f, 3); // On minimum threshold -> SWITCH_POS_OFF
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checkPayloadPowerSwitch(-.999f, 0.f, 0.f, 1); // Slightly above minimum threshold -> SWITCH_POS_ON
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checkPayloadPowerSwitch(1.f, 0.f, 0.f, 1); // Above minimum threshold -> SWITCH_POS_ON
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checkPayloadPowerSwitch(-1.f, 1.f, 1.f, 3); // Below maximum threshold -> SWITCH_POS_OFF
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checkPayloadPowerSwitch(1.f, 1.f, 1.f, 3); // On maximum threshold -> SWITCH_POS_OFF
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}
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TEST_F(RCUpdateTest, PayloadPower3WaySwitchPositiveThresholds)
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{
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checkPayloadPowerSwitch(-1.f, 0.75f, 0.25f, 3); // Below mid_threshold -> SWITCH_POS_OFF
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checkPayloadPowerSwitch(-0.5f, 0.75f, 0.25f, 3); // On mid_threshold -> SWITCH_POS_OFF
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checkPayloadPowerSwitch(-0.449f, 0.75f, 0.25f, 2); // Slightly above mid_threshold -> SWITCH_POS_MIDDLE
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checkPayloadPowerSwitch(0.f, 0.75f, 0.25f, 2); // Between mid_threshold and on_threshold -> SWITCH_POS_MIDDLE
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checkPayloadPowerSwitch(0.5f, 0.75f, 0.25f, 2); // On on_threshold -> SWITCH_POS_MIDDLE
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checkPayloadPowerSwitch(0.501f, 0.75f, 0.25f, 1); // Slightly above on_threshold -> SWITCH_POS_ON
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checkPayloadPowerSwitch(1.f, 0.75f, 0.25f, 1); // Above on_threshold -> SWITCH_POS_ON
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}
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TEST_F(RCUpdateTest, PayloadPower2WaySwitchNegativeThresholds)
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{
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checkPayloadPowerSwitch(1.f, -0.5f, -0.5f, 3); // Above threshold -> SWITCH_POS_OFF
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checkPayloadPowerSwitch(0.f, -0.5f, -0.5f, 3); // On threshold -> SWITCH_POS_OFF
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checkPayloadPowerSwitch(-.001f, -0.5f, -0.5f, 1); // Slightly below threshold -> SWITCH_POS_ON
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checkPayloadPowerSwitch(-1.f, -0.5f, -0.5f, 1); // Below threshold -> SWITCH_POS_ON
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checkPayloadPowerSwitch(1.f, -0.75f, -0.75f, 3); // Above threshold -> SWITCH_POS_OFF
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checkPayloadPowerSwitch(.5f, -0.75f, -0.75f, 3); // On threshold -> SWITCH_POS_OFF
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checkPayloadPowerSwitch(.499f, -0.75f, -0.75f, 1); // Slightly below threshold -> SWITCH_POS_ON
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checkPayloadPowerSwitch(-1.f, -0.75f, -0.75f, 1); // Below threshold -> SWITCH_POS_ON
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checkPayloadPowerSwitch(1.f, -1.f, -1.f, 3); // On maximum threshold -> SWITCH_POS_OFF
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checkPayloadPowerSwitch(.999f, -1.f, -1.f, 1); // Slighly below maximum threshold -> SWITCH_POS_ON
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checkPayloadPowerSwitch(-1.f, -1.f, -1.f, 1); // Below minimum threshold -> SWITCH_POS_ON
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checkPayloadPowerSwitch(1.f, -.001f, -.001f, 3); // Above minimum threshold -> SWITCH_POS_OFF
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checkPayloadPowerSwitch(-1.f, -.001f, -.001f, 1); // Slightly below minimum threshold -> SWITCH_POS_OFF
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}
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TEST_F(RCUpdateTest, PayloadPower3WaySwitchNegativeThresholds)
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{
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checkPayloadPowerSwitch(1.f, -0.75f, -0.25f, 3); // Above on_threshold -> SWITCH_POS_OFF
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checkPayloadPowerSwitch(0.5f, -0.75f, -0.25f, 3); // On on_threshold -> SWITCH_POS_OFF
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checkPayloadPowerSwitch(0.449f, -0.75f, -0.25f, 2); // Slightly below on_threshold -> SWITCH_POS_MIDDLE
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checkPayloadPowerSwitch(0.f, -0.75f, -0.25f, 2); // Between on_threshold and mid_threshold -> SWITCH_POS_MIDDLE
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checkPayloadPowerSwitch(-0.5f, -0.75f, -0.25f, 2); // On mid_threshold -> SWITCH_POS_MIDDLE
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checkPayloadPowerSwitch(-0.501f, -0.75f, -0.25f, 1); // Slightly above on_threshold -> SWITCH_POS_ON
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checkPayloadPowerSwitch(-1.f, -0.75f, -0.25f, 1); // Above on_threshold -> SWITCH_POS_ON
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}
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