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First cut of code that passed the unit tests for mod activations,

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however it uses / operations and doesn't handle the case where the
channel value is on the boundary between two ranges.
This commit is contained in:
Dominic Clifton 2014-10-12 18:15:44 +01:00
parent c0fd0c1f33
commit 2369a63df0
5 changed files with 117 additions and 52 deletions
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2
src/test/Makefile
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@ -29,7 +29,7 @@ OBJECT_DIR = ../../obj/test
CPPFLAGS += -isystem $(GTEST_DIR)/inc
# Flags passed to the C++ compiler.
CXXFLAGS += -g -Wall -Wextra -pthread -ggdb -O0 -DUNIT_TEST
CXXFLAGS += -g -Wall -Wextra -pthread -ggdb3 -O0 -DUNIT_TEST
# All tests produced by this Makefile. Remember to add new tests you
# created to the list.

125
src/test/unit/rc_controls_unittest.cc
View file

@ -27,71 +27,104 @@
#include "unittest_macros.h"
#include "gtest/gtest.h"
#define NON_AUX_CHANNEL_COUNT 4
int constrain(int amt, int low, int high)
{
if (amt < low)
return low;
else if (amt > high)
return high;
else
return amt;
}
TEST(RcControlsTest, updateRcOptionsWithAllInputsAtMidde)
{
// given
uint32_t activate[CHECKBOX_ITEM_COUNT];
memset(&activate, 0, sizeof(activate));
modeActivationCondition_t modeActivationConditions[MAX_MODE_ACTIVATION_CONDITION_COUNT];
memset(&modeActivationConditions, 0, sizeof(modeActivationConditions));
uint8_t index;
for (index = 0; index < CHECKBOX_ITEM_COUNT; index++) {
rcOptions[index] = 0;
}
// and
rcModeActivationMask = 0;
// and
memset(&rxRuntimeConfig, 0, sizeof(rxRuntimeConfig_t));
rxRuntimeConfig.auxChannelCount = MAX_SUPPORTED_RC_CHANNEL_COUNT - NON_AUX_CHANNEL_COUNT;
// and
uint8_t index;
for (index = AUX1; index < MAX_SUPPORTED_RC_CHANNEL_COUNT; index++) {
rcData[index] = PWM_RANGE_MIDDLE;
}
// and
uint32_t expectedRcOptions[CHECKBOX_ITEM_COUNT];
memset(&expectedRcOptions, 0, sizeof(expectedRcOptions));
// when
updateRcOptions(activate);
updateRcOptions(modeActivationConditions);
// then
for (index = 0; index < CHECKBOX_ITEM_COUNT; index++) {
printf("iteration: %d\n", index);
EXPECT_EQ(expectedRcOptions[index], rcOptions[index]);
EXPECT_EQ(false, IS_RC_MODE_ACTIVE(index));
}
}
TEST(RcControlsTest, updateRcOptionsUsingValidAuxConfigurationAndRXValues)
{
// given
uint32_t activate[CHECKBOX_ITEM_COUNT];
memset(&activate, 0, sizeof(activate));
activate[0] = 0b000000000100UL;
activate[1] = 0b000000010000UL;
activate[2] = 0b000001000000UL;
activate[3] = 0b111000000000UL;
modeActivationCondition_t modeActivationConditions[MAX_MODE_ACTIVATION_CONDITION_COUNT];
memset(&modeActivationConditions, 0, sizeof(modeActivationConditions));
activate[4] = 0b000000000001UL << 16;
activate[5] = 0b000000010000UL << 16;
activate[6] = 0b000100000000UL << 16;
activate[7] = 0b111000000000UL << 16;
modeActivationConditions[0].modeId = (boxId_e)0;
modeActivationConditions[0].auxChannelIndex = AUX1 - NON_AUX_CHANNEL_COUNT;
modeActivationConditions[0].rangeStartStep = CHANNEL_VALUE_TO_STEP(1700);
modeActivationConditions[0].rangeEndStep = CHANNEL_VALUE_TO_STEP(2100);
uint8_t index;
modeActivationConditions[1].modeId = (boxId_e)1;
modeActivationConditions[1].auxChannelIndex = AUX2 - NON_AUX_CHANNEL_COUNT;
modeActivationConditions[1].rangeStartStep = CHANNEL_VALUE_TO_STEP(1300);
modeActivationConditions[1].rangeEndStep = CHANNEL_VALUE_TO_STEP(1700);
for (index = 0; index < CHECKBOX_ITEM_COUNT; index++) {
rcOptions[index] = 0;
}
modeActivationConditions[2].modeId = (boxId_e)2;
modeActivationConditions[2].auxChannelIndex = AUX3 - NON_AUX_CHANNEL_COUNT;
modeActivationConditions[2].rangeStartStep = CHANNEL_VALUE_TO_STEP(900);
modeActivationConditions[2].rangeEndStep = CHANNEL_VALUE_TO_STEP(1200);
modeActivationConditions[3].modeId = (boxId_e)3;
modeActivationConditions[3].auxChannelIndex = AUX4 - NON_AUX_CHANNEL_COUNT;
modeActivationConditions[3].rangeStartStep = CHANNEL_VALUE_TO_STEP(900);
modeActivationConditions[3].rangeEndStep = CHANNEL_VALUE_TO_STEP(2100);
modeActivationConditions[4].modeId = (boxId_e)4;
modeActivationConditions[4].auxChannelIndex = AUX5 - NON_AUX_CHANNEL_COUNT;
modeActivationConditions[4].rangeStartStep = CHANNEL_VALUE_TO_STEP(900);
modeActivationConditions[4].rangeEndStep = CHANNEL_VALUE_TO_STEP(925);
EXPECT_EQ(0, modeActivationConditions[4].rangeStartStep);
EXPECT_EQ(1, modeActivationConditions[4].rangeEndStep);
modeActivationConditions[5].modeId = (boxId_e)5;
modeActivationConditions[5].auxChannelIndex = AUX6 - NON_AUX_CHANNEL_COUNT;
modeActivationConditions[5].rangeStartStep = CHANNEL_VALUE_TO_STEP(2075);
modeActivationConditions[5].rangeEndStep = CHANNEL_VALUE_TO_STEP(2100);
EXPECT_EQ(47, modeActivationConditions[5].rangeStartStep);
EXPECT_EQ(48, modeActivationConditions[5].rangeEndStep);
modeActivationConditions[6].modeId = (boxId_e)6;
modeActivationConditions[6].auxChannelIndex = AUX7 - NON_AUX_CHANNEL_COUNT;
modeActivationConditions[6].rangeStartStep = CHANNEL_VALUE_TO_STEP(925);
modeActivationConditions[6].rangeEndStep = CHANNEL_VALUE_TO_STEP(950);
EXPECT_EQ(1, modeActivationConditions[6].rangeStartStep);
EXPECT_EQ(2, modeActivationConditions[6].rangeEndStep);
// and
rcModeActivationMask = 0;
// and
memset(&rxRuntimeConfig, 0, sizeof(rxRuntimeConfig_t));
rxRuntimeConfig.auxChannelCount = MAX_SUPPORTED_RC_CHANNEL_COUNT - NON_AUX_CHANNEL_COUNT;
// and
uint8_t index;
for (index = AUX1; index < MAX_SUPPORTED_RC_CHANNEL_COUNT; index++) {
rcData[index] = PWM_RANGE_MIDDLE;
}
@ -100,35 +133,31 @@ TEST(RcControlsTest, updateRcOptionsUsingValidAuxConfigurationAndRXValues)
rcData[AUX2] = PWM_RANGE_MIDDLE;
rcData[AUX3] = PWM_RANGE_MIN;
rcData[AUX4] = PWM_RANGE_MAX;
rcData[AUX5] = PWM_RANGE_MIN;
rcData[AUX6] = PWM_RANGE_MIDDLE;
rcData[AUX7] = PWM_RANGE_MAX;
rcData[AUX8] = PWM_RANGE_MIN;
rcData[AUX5] = 899;
rcData[AUX6] = 2101;
rcData[AUX7] = 925;
// and
uint32_t expectedRcOptions[CHECKBOX_ITEM_COUNT];
memset(&expectedRcOptions, 0, sizeof(expectedRcOptions));
expectedRcOptions[0] = 1;
expectedRcOptions[1] = 1;
expectedRcOptions[2] = 1;
expectedRcOptions[3] = 1;
expectedRcOptions[4] = 1;
expectedRcOptions[5] = 1;
expectedRcOptions[6] = 1;
expectedRcOptions[7] = 1;
uint32_t expectedMask = 0;
expectedMask |= (1 << 0);
expectedMask |= (1 << 1);
expectedMask |= (1 << 2);
expectedMask |= (1 << 3);
expectedMask |= (1 << 4);
expectedMask |= (1 << 5);
expectedMask |= (0 << 6);
// when
updateRcOptions(activate);
updateRcOptions(modeActivationConditions);
// then
for (index = 0; index < CHECKBOX_ITEM_COUNT; index++) {
printf("iteration: %d\n", index);
EXPECT_EQ(expectedRcOptions[index], rcOptions[index]);
EXPECT_EQ(expectedMask & (1 << index), rcModeActivationMask & (1 << index));
}
}
void changeProfile(uint8_t profileIndex) {}
void changeProfile(uint8_t) {}
void accSetCalibrationCycles(uint16_t) {}
void gyroSetCalibrationCycles(uint16_t) {}
void applyAndSaveAccelerometerTrimsDelta(rollAndPitchTrims_t*) {}