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Code Issues Wiki Activity

Added TAG2_3SVARIABLE encoding

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This commit is contained in:
Martin Budden 2017-04-25 14:41:45 +01:00
parent c7b460ee2f
commit 015d848d73
4 changed files with 251 additions and 2 deletions
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126
src/test/unit/blackbox_encoding_unittest.cc
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@ -99,6 +99,7 @@ bool isSerialTransmitBufferEmpty(const serialPort_t *instance)
void serialTestResetBuffers()
{
blackboxPort = &serialTestInstance;
memset(&serialReadBuffer, 0, sizeof(serialReadBuffer));
serialReadPos = 0;
serialReadEnd = 0;
@ -108,7 +109,8 @@ void serialTestResetBuffers()
TEST(BlackboxEncodingTest, TestWriteUnsignedVB)
{
blackboxPort = &serialTestInstance;
serialTestResetBuffers();
blackboxWriteUnsignedVB(0);
EXPECT_EQ(0, serialWriteBuffer[0]);
blackboxWriteUnsignedVB(128);
@ -116,6 +118,128 @@ TEST(BlackboxEncodingTest, TestWriteUnsignedVB)
EXPECT_EQ(1, serialWriteBuffer[2]);
}
TEST(BlackboxTest, TestWriteTag2_3SVariable_BITS2)
{
serialTestResetBuffers();
uint8_t *buf = &serialWriteBuffer[0];
int selector;
int32_t v[3];
// 2 bits per field ss11 2233,
v[0] = 0;
v[1] = 0;
v[2] = 0;
selector = blackboxWriteTag2_3SVariable(v);
EXPECT_EQ(0, selector);
EXPECT_EQ(0, buf[0]);
EXPECT_EQ(0, buf[1]); // ensure next byte has not been written
++buf;
v[0] = 1;
selector = blackboxWriteTag2_3SVariable(v);
EXPECT_EQ(0x10, buf[0]); // 00010000
EXPECT_EQ(0, buf[1]); // ensure next byte has not been written
++buf;
v[0] = 1;
v[1] = 1;
v[2] = 1;
selector = blackboxWriteTag2_3SVariable(v);
EXPECT_EQ(0, selector);
EXPECT_EQ(0x15, buf[0]); // 00010101
EXPECT_EQ(0, buf[1]); // ensure next byte has not been written
++buf;
v[0] = -1;
v[1] = -1;
v[2] = -1;
selector = blackboxWriteTag2_3SVariable(v);
EXPECT_EQ(0, selector);
EXPECT_EQ(0x3F, buf[0]); // 00111111
EXPECT_EQ(0, buf[1]); // ensure next byte has not been written
++buf;
v[0] = -2;
v[1] = -2;
v[2] = -2;
selector = blackboxWriteTag2_3SVariable(v);
EXPECT_EQ(0, selector);
EXPECT_EQ(0x2A, buf[0]); // 00101010
EXPECT_EQ(0, buf[1]); // ensure next byte has not been written
++buf;
}
TEST(BlackboxTest, TestWriteTag2_3SVariable_BITS554)
{
serialTestResetBuffers();
uint8_t *buf = &serialWriteBuffer[0];
int selector;
int32_t v[3];
// 554 bits per field ss11 1112 2222 3333
// 5 bits per field [-16, 15], 4 bits per field [-8, 7]
v[0] = 15;
v[1] = 15;
v[2] = 7;
selector = blackboxWriteTag2_3SVariable(v);
EXPECT_EQ(1, selector);
EXPECT_EQ(0x5E, buf[0]); // 0101 1110
EXPECT_EQ(0xF7, buf[1]); // 1111 0111
EXPECT_EQ(0, buf[2]); // ensure next byte has not been written
buf += 2;
v[0] = -16;
v[1] = -16;
v[2] = -8;
selector = blackboxWriteTag2_3SVariable(v);
EXPECT_EQ(1, selector);
EXPECT_EQ(0x61, buf[0]); // 0110 0001
EXPECT_EQ(0x08, buf[1]); // 0000 1000
EXPECT_EQ(0, buf[2]); // ensure next byte has not been written
buf += 2;
v[0] = 7;
v[1] = 8;
v[2] = 5;
selector = blackboxWriteTag2_3SVariable(v);
EXPECT_EQ(1, selector);
EXPECT_EQ(0x4E, buf[0]); // 0100 1110
EXPECT_EQ(0x85, buf[1]); // 1000 0101
EXPECT_EQ(0, buf[2]); // ensure next byte has not been written
buf += 2;
}
TEST(BlackboxTest, TestWriteTag2_3SVariable_BITS887)
{
serialTestResetBuffers();
uint8_t *buf = &serialWriteBuffer[0];
int selector;
int32_t v[3];
// 877 bits per field ss11 1111 1122 2222 2333 3333
// 8 bits per field [-128, 127], 7 bits per field [-64, 63]
v[0] = 127;
v[1] = 63;
v[2] = 63;
selector = blackboxWriteTag2_3SVariable(v);
EXPECT_EQ(2, selector);
EXPECT_EQ(0x9F, buf[0]); // 1001 1111
EXPECT_EQ(0xDF, buf[1]); // 1101 1111
EXPECT_EQ(0xBF, buf[2]); // 1011 1111
EXPECT_EQ(0, buf[3]); // ensure next byte has not been written
buf += 3;
v[0] = -128;
v[1] = -64;
v[2] = -64;
selector = blackboxWriteTag2_3SVariable(v);
EXPECT_EQ(2, selector);
EXPECT_EQ(0xA0, buf[0]); // 1010 0000
EXPECT_EQ(0x20, buf[1]); // 0010 0000
EXPECT_EQ(0x40, buf[2]); // 0100 0000
EXPECT_EQ(0, buf[3]); // ensure next byte has not been written
buf += 3;
}
// STUBS
extern "C" {
PG_REGISTER(blackboxConfig_t, blackboxConfig, PG_BLACKBOX_CONFIG, 0);