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134 lines
6.1 KiB
C++
134 lines
6.1 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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#define MODULE_NAME "rc_update"
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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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TEST(RCUpdateTest, ModeSlotUnassigned)
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{
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RCUpdate rc_update;
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// GIVEN: Default configuration with no assigned mode switch
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EXPECT_EQ(rc_update._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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manual_control_switches_sub.update();
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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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void checkModeSlotSwitch(float channel_value, uint8_t expected_slot)
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{
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RCUpdate rc_update;
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// GIVEN: First channel is configured as mode switch
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rc_update._param_rc_map_fltmode.set(1);
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EXPECT_EQ(rc_update._param_rc_map_fltmode.get(), 1);
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// GIVEN: First channel has some value
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rc_update._rc.channels[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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manual_control_switches_sub.update();
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EXPECT_EQ(manual_control_switches_sub.get().mode_slot, expected_slot);
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}
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TEST(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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void checkModeSlotButton(uint8_t button_configuration, uint8_t channel, float channel_value, uint8_t expected_slot)
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{
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RCUpdate rc_update;
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// GIVEN: Buttons are configured
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rc_update._param_rc_map_fltm_btn.set(button_configuration);
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EXPECT_EQ(rc_update._param_rc_map_fltm_btn.get(), button_configuration);
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// GIVEN: buttons are mapped
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rc_update.update_rc_functions();
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// GIVEN: First channel has some value
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rc_update._rc.channels[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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manual_control_switches_sub.update();
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EXPECT_EQ(manual_control_switches_sub.get().mode_slot, expected_slot);
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}
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TEST(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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