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Code Issues Wiki Activity

Improved reentrancy of RX code. Made SBUS re-entrant

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This commit is contained in:
Martin Budden 2017-11-25 06:02:06 +00:00
parent 30f3152525
commit 0a7d2412e1
17 changed files with 131 additions and 102 deletions
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60
src/test/unit/rx_ibus_unittest.cc
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@ -257,14 +257,14 @@ protected:
//handle that internal ibus position is not set to zero at init
microseconds_stub_value += 5000;
EXPECT_EQ(RX_FRAME_PENDING, rxRuntimeConfig.rcFrameStatusFn());
EXPECT_EQ(RX_FRAME_PENDING, rxRuntimeConfig.rcFrameStatusFn(&rxRuntimeConfig));
}
virtual void receivePacket(uint8_t const * const packet, const size_t length)
{
EXPECT_EQ(RX_FRAME_PENDING, rxRuntimeConfig.rcFrameStatusFn());
EXPECT_EQ(RX_FRAME_PENDING, rxRuntimeConfig.rcFrameStatusFn(&rxRuntimeConfig));
for (size_t i=0; i < length; i++) {
EXPECT_EQ(RX_FRAME_PENDING, rxRuntimeConfig.rcFrameStatusFn());
EXPECT_EQ(RX_FRAME_PENDING, rxRuntimeConfig.rcFrameStatusFn(&rxRuntimeConfig));
stub_serialRxCallback(packet[i], NULL);
}
}
@ -273,7 +273,7 @@ protected:
TEST_F(IbusRxProtocollUnitTest, Test_InitialFrameState)
{
EXPECT_EQ(RX_FRAME_PENDING, rxRuntimeConfig.rcFrameStatusFn());
EXPECT_EQ(RX_FRAME_PENDING, rxRuntimeConfig.rcFrameStatusFn(&rxRuntimeConfig));
//TODO: is it ok to have undefined channel values after init?
}
@ -288,13 +288,13 @@ TEST_F(IbusRxProtocollUnitTest, Test_IA6B_OnePacketReceived)
0x84, 0xff}; //checksum
for (size_t i=0; i < sizeof(packet); i++) {
EXPECT_EQ(RX_FRAME_PENDING, rxRuntimeConfig.rcFrameStatusFn());
EXPECT_EQ(RX_FRAME_PENDING, rxRuntimeConfig.rcFrameStatusFn(&rxRuntimeConfig));
stub_serialRxCallback(packet[i], NULL);
}
//report frame complete once
EXPECT_EQ(RX_FRAME_COMPLETE, rxRuntimeConfig.rcFrameStatusFn());
EXPECT_EQ(RX_FRAME_PENDING, rxRuntimeConfig.rcFrameStatusFn());
EXPECT_EQ(RX_FRAME_COMPLETE, rxRuntimeConfig.rcFrameStatusFn(&rxRuntimeConfig));
EXPECT_EQ(RX_FRAME_PENDING, rxRuntimeConfig.rcFrameStatusFn(&rxRuntimeConfig));
//check that channel values have been updated
for (int i=0; i<14; i++) {
@ -313,12 +313,12 @@ TEST_F(IbusRxProtocollUnitTest, Test_IA6B_OnePacketReceivedWithBadCrc)
isChecksumOkReturnValue = false;
for (size_t i=0; i < sizeof(packet); i++) {
EXPECT_EQ(RX_FRAME_PENDING, rxRuntimeConfig.rcFrameStatusFn());
EXPECT_EQ(RX_FRAME_PENDING, rxRuntimeConfig.rcFrameStatusFn(&rxRuntimeConfig));
stub_serialRxCallback(packet[i], NULL);
}
//no frame complete
EXPECT_EQ(RX_FRAME_PENDING, rxRuntimeConfig.rcFrameStatusFn());
EXPECT_EQ(RX_FRAME_PENDING, rxRuntimeConfig.rcFrameStatusFn(&rxRuntimeConfig));
//check that channel values have not been updated
for (int i=0; i<14; i++) {
@ -339,21 +339,21 @@ TEST_F(IbusRxProtocollUnitTest, Test_IA6B_HalfPacketReceived_then_interPacketGap
0x84, 0xff}; //checksum
for (size_t i=0; i < sizeof(packet_half); i++) {
EXPECT_EQ(RX_FRAME_PENDING, rxRuntimeConfig.rcFrameStatusFn());
EXPECT_EQ(RX_FRAME_PENDING, rxRuntimeConfig.rcFrameStatusFn(&rxRuntimeConfig));
stub_serialRxCallback(packet_half[i], NULL);
}
microseconds_stub_value += 5000;
EXPECT_EQ(RX_FRAME_PENDING, rxRuntimeConfig.rcFrameStatusFn());
EXPECT_EQ(RX_FRAME_PENDING, rxRuntimeConfig.rcFrameStatusFn(&rxRuntimeConfig));
for (size_t i=0; i < sizeof(packet_full); i++) {
EXPECT_EQ(RX_FRAME_PENDING, rxRuntimeConfig.rcFrameStatusFn());
EXPECT_EQ(RX_FRAME_PENDING, rxRuntimeConfig.rcFrameStatusFn(&rxRuntimeConfig));
stub_serialRxCallback(packet_full[i], NULL);
}
//report frame complete once
EXPECT_EQ(RX_FRAME_COMPLETE, rxRuntimeConfig.rcFrameStatusFn());
EXPECT_EQ(RX_FRAME_PENDING, rxRuntimeConfig.rcFrameStatusFn());
EXPECT_EQ(RX_FRAME_COMPLETE, rxRuntimeConfig.rcFrameStatusFn(&rxRuntimeConfig));
EXPECT_EQ(RX_FRAME_PENDING, rxRuntimeConfig.rcFrameStatusFn(&rxRuntimeConfig));
//check that channel values have been updated
for (int i=0; i<14; i++) {
@ -371,13 +371,13 @@ TEST_F(IbusRxProtocollUnitTest, Test_IA6_OnePacketReceived)
0x5b, 0x00}; //checksum
for (size_t i=0; i < sizeof(packet); i++) {
EXPECT_EQ(RX_FRAME_PENDING, rxRuntimeConfig.rcFrameStatusFn());
EXPECT_EQ(RX_FRAME_PENDING, rxRuntimeConfig.rcFrameStatusFn(&rxRuntimeConfig));
stub_serialRxCallback(packet[i], NULL);
}
//report frame complete once
EXPECT_EQ(RX_FRAME_COMPLETE, rxRuntimeConfig.rcFrameStatusFn());
EXPECT_EQ(RX_FRAME_PENDING, rxRuntimeConfig.rcFrameStatusFn());
EXPECT_EQ(RX_FRAME_COMPLETE, rxRuntimeConfig.rcFrameStatusFn(&rxRuntimeConfig));
EXPECT_EQ(RX_FRAME_PENDING, rxRuntimeConfig.rcFrameStatusFn(&rxRuntimeConfig));
//check that channel values have been updated
for (int i=0; i<14; i++) {
@ -395,12 +395,12 @@ TEST_F(IbusRxProtocollUnitTest, Test_IA6_OnePacketReceivedBadCrc)
0x00, 0x00}; //checksum
for (size_t i=0; i < sizeof(packet); i++) {
EXPECT_EQ(RX_FRAME_PENDING, rxRuntimeConfig.rcFrameStatusFn());
EXPECT_EQ(RX_FRAME_PENDING, rxRuntimeConfig.rcFrameStatusFn(&rxRuntimeConfig));
stub_serialRxCallback(packet[i], NULL);
}
//no frame complete
EXPECT_EQ(RX_FRAME_PENDING, rxRuntimeConfig.rcFrameStatusFn());
EXPECT_EQ(RX_FRAME_PENDING, rxRuntimeConfig.rcFrameStatusFn(&rxRuntimeConfig));
//check that channel values have not been updated
for (int i=0; i<14; i++) {
@ -433,17 +433,17 @@ TEST_F(IbusRxProtocollUnitTest, Test_IA6B_OnePacketReceived_not_shared_port)
//handle that internal ibus position is not set to zero at init
microseconds_stub_value += 5000;
EXPECT_EQ(RX_FRAME_PENDING, rxRuntimeConfig.rcFrameStatusFn());
EXPECT_EQ(RX_FRAME_PENDING, rxRuntimeConfig.rcFrameStatusFn(&rxRuntimeConfig));
}
for (size_t i=0; i < sizeof(packet); i++) {
EXPECT_EQ(RX_FRAME_PENDING, rxRuntimeConfig.rcFrameStatusFn());
EXPECT_EQ(RX_FRAME_PENDING, rxRuntimeConfig.rcFrameStatusFn(&rxRuntimeConfig));
stub_serialRxCallback(packet[i], NULL);
}
//report frame complete once
EXPECT_EQ(RX_FRAME_COMPLETE, rxRuntimeConfig.rcFrameStatusFn());
EXPECT_EQ(RX_FRAME_PENDING, rxRuntimeConfig.rcFrameStatusFn());
EXPECT_EQ(RX_FRAME_COMPLETE, rxRuntimeConfig.rcFrameStatusFn(&rxRuntimeConfig));
EXPECT_EQ(RX_FRAME_PENDING, rxRuntimeConfig.rcFrameStatusFn(&rxRuntimeConfig));
//check that channel values have been updated
for (int i=0; i<14; i++) {
@ -460,7 +460,7 @@ TEST_F(IbusRxProtocollUnitTest, Test_OneTelemetryPacketReceived)
receivePacket(packet, sizeof(packet));
//no frame complete signal to rx system, but telemetry system is called
EXPECT_EQ(RX_FRAME_PENDING, rxRuntimeConfig.rcFrameStatusFn());
EXPECT_EQ(RX_FRAME_PENDING, rxRuntimeConfig.rcFrameStatusFn(&rxRuntimeConfig));
EXPECT_TRUE(stubTelemetryCalled);
EXPECT_TRUE( 0 == memcmp( stubTelemetryPacket, packet, sizeof(packet)));
}
@ -474,12 +474,12 @@ TEST_F(IbusRxProtocollUnitTest, Test_OneTelemetryIgnoreTxEchoToRx)
//given one packet received, that will respond with four characters to be ignored
receivePacket(packet, sizeof(packet));
rxRuntimeConfig.rcFrameStatusFn();
rxRuntimeConfig.rcFrameStatusFn(&rxRuntimeConfig);
EXPECT_TRUE(stubTelemetryCalled);
//when those four bytes are sent and looped back
resetStubTelemetry();
rxRuntimeConfig.rcFrameStatusFn();
rxRuntimeConfig.rcFrameStatusFn(&rxRuntimeConfig);
receivePacket(packet, sizeof(packet));
//then they are ignored
@ -487,7 +487,7 @@ TEST_F(IbusRxProtocollUnitTest, Test_OneTelemetryIgnoreTxEchoToRx)
//and then next packet can be received
receivePacket(packet, sizeof(packet));
rxRuntimeConfig.rcFrameStatusFn();
rxRuntimeConfig.rcFrameStatusFn(&rxRuntimeConfig);
EXPECT_TRUE(stubTelemetryCalled);
}
@ -500,16 +500,16 @@ TEST_F(IbusRxProtocollUnitTest, Test_OneTelemetryShouldNotIgnoreTxEchoAfterInter
//given one packet received, that will respond with four characters to be ignored
receivePacket(packet, sizeof(packet));
rxRuntimeConfig.rcFrameStatusFn();
rxRuntimeConfig.rcFrameStatusFn(&rxRuntimeConfig);
EXPECT_TRUE(stubTelemetryCalled);
//when there is an interPacketGap
microseconds_stub_value += 5000;
resetStubTelemetry();
rxRuntimeConfig.rcFrameStatusFn();
rxRuntimeConfig.rcFrameStatusFn(&rxRuntimeConfig);
//then next packet can be received
receivePacket(packet, sizeof(packet));
rxRuntimeConfig.rcFrameStatusFn();
rxRuntimeConfig.rcFrameStatusFn(&rxRuntimeConfig);
EXPECT_TRUE(stubTelemetryCalled);
}