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Add test to ensure that failsafe is not activated when disarmed and RX

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signal loss is occurs.
This commit is contained in:
Dominic Clifton 2015-04-19 06:29:54 +01:00
parent d4eb558254
commit 20a421c4be
1 changed files with 51 additions and 7 deletions
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58
src/test/unit/flight_failsafe_unittest.cc
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@ -59,6 +59,15 @@ void resetCallCounters(void) {
rxConfig_t rxConfig; rxConfig_t rxConfig;
failsafeConfig_t failsafeConfig; failsafeConfig_t failsafeConfig;
void configureFailsafe(void)
{
memset(&rxConfig, 0, sizeof(rxConfig));
rxConfig.midrc = TEST_MID_RC;
memset(&failsafeConfig, 0, sizeof(failsafeConfig));
failsafeConfig.failsafe_delay = 10; // 1 second
failsafeConfig.failsafe_off_delay = 50; // 5 seconds
}
// //
// Stepwise tests // Stepwise tests
// //
@ -66,13 +75,9 @@ failsafeConfig_t failsafeConfig;
TEST(FlightFailsafeTest, TestFailsafeInitialState) TEST(FlightFailsafeTest, TestFailsafeInitialState)
{ {
// given // given
memset(&rxConfig, 0, sizeof(rxConfig)); configureFailsafe();
rxConfig.midrc = TEST_MID_RC;
// and // and
memset(&failsafeConfig, 0, sizeof(failsafeConfig)); DISABLE_ARMING_FLAG(ARMED);
failsafeConfig.failsafe_delay = 10; // 1 second
failsafeConfig.failsafe_off_delay = 50; // 5 seconds
// when // when
useFailsafeConfig(&failsafeConfig); useFailsafeConfig(&failsafeConfig);
@ -95,8 +100,11 @@ TEST(FlightFailsafeTest, TestFailsafeStartMonitoring)
EXPECT_EQ(FAILSAFE_IDLE, failsafePhase()); EXPECT_EQ(FAILSAFE_IDLE, failsafePhase());
} }
TEST(FlightFailsafeTest, TestFailsafeFirstCycle) TEST(FlightFailsafeTest, TestFailsafeFirstArmedCycle)
{ {
// given
ENABLE_ARMING_FLAG(ARMED);
// when // when
failsafeOnRxCycleStarted(); failsafeOnRxCycleStarted();
failsafeOnValidDataReceived(); failsafeOnValidDataReceived();
@ -254,6 +262,42 @@ TEST(FlightFailsafeTest, TestFailsafeCausesLanding)
} }
//
// Additional non-stepwise tests
//
TEST(FlightFailsafeTest, TestFailsafeNotActivatedWhenDisarmedAndRXLossIsDetected)
{
// given
configureFailsafe();
// and
useFailsafeConfig(&failsafeConfig);
failsafeInit(&rxConfig);
// and
DISABLE_ARMING_FLAG(ARMED);
// when
failsafeStartMonitoring();
// and
int callsToMakeToSimulateTenSeconds = FAILSAFE_UPDATE_HZ * 10;
for (int i = 0; i < callsToMakeToSimulateTenSeconds; i++) {
failsafeOnRxCycleStarted();
// no call to failsafeOnValidDataReceived();
failsafeUpdateState();
// then
EXPECT_EQ(true, failsafeIsMonitoring());
EXPECT_EQ(false, failsafeIsActive());
EXPECT_EQ(FAILSAFE_IDLE, failsafePhase());
}
}
// STUBS // STUBS
extern "C" { extern "C" {