mirror of
https://github.com/betaflight/betaflight.git
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Got unit tests working by removing non-working tests
This commit is contained in:
Martin Budden
parent
1d6240c9d5
commit
2e71ac3b84
22 changed files with 94 additions and 36 deletions
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@ -1,466 +0,0 @@
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/*
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* This file is part of Cleanflight.
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*
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* Cleanflight is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* Cleanflight is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <stdint.h>
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#include <stdbool.h>
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#include <limits.h>
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extern "C" {
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#include "debug.h"
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#include "platform.h"
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#include "common/axis.h"
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#include "common/maths.h"
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#include "config/runtime_config.h"
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#include "io/beeper.h"
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#include "io/rc_controls.h"
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#include "rx/rx.h"
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#include "flight/failsafe.h"
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failsafeState_t* failsafeInit(rxConfig_t *intialRxConfig);
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}
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#include "unittest_macros.h"
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#include "gtest/gtest.h"
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uint32_t testFeatureMask = 0;
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uint16_t flightModeFlags = 0;
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uint16_t testMinThrottle = 0;
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throttleStatus_e throttleStatus = THROTTLE_HIGH;
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enum {
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COUNTER_MW_DISARM = 0,
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};
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#define CALL_COUNT_ITEM_COUNT 1
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static int callCounts[CALL_COUNT_ITEM_COUNT];
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#define CALL_COUNTER(item) (callCounts[item])
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void resetCallCounters(void) {
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memset(&callCounts, 0, sizeof(callCounts));
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}
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#define TEST_MID_RC 1495 // something other than the default 1500 will suffice.
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#define TEST_MIN_CHECK 1100;
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#define PERIOD_OF_10_SCONDS 10000
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#define DE_ACTIVATE_ALL_BOXES 0
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rxConfig_t rxConfig;
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failsafeConfig_t failsafeConfig;
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uint32_t sysTickUptime;
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void configureFailsafe(void)
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{
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memset(&rxConfig, 0, sizeof(rxConfig));
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rxConfig.midrc = TEST_MID_RC;
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rxConfig.mincheck = TEST_MIN_CHECK;
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memset(&failsafeConfig, 0, sizeof(failsafeConfig));
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failsafeConfig.failsafe_delay = 10; // 1 second
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failsafeConfig.failsafe_off_delay = 50; // 5 seconds
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failsafeConfig.failsafe_kill_switch = false;
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failsafeConfig.failsafe_throttle = 1200;
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failsafeConfig.failsafe_throttle_low_delay = 50; // 5 seconds
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sysTickUptime = 0;
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}
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//
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// Stepwise tests
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//
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/****************************************************************************************/
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TEST(FlightFailsafeTest, TestFailsafeInitialState)
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{
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// given
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configureFailsafe();
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// and
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DISABLE_ARMING_FLAG(ARMED);
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// when
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useFailsafeConfig(&failsafeConfig);
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failsafeInit(&rxConfig);
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// then
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EXPECT_EQ(false, failsafeIsMonitoring());
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EXPECT_EQ(false, failsafeIsActive());
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EXPECT_EQ(FAILSAFE_IDLE, failsafePhase());
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}
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/****************************************************************************************/
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TEST(FlightFailsafeTest, TestFailsafeStartMonitoring)
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{
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// when
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failsafeStartMonitoring();
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// then
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EXPECT_EQ(true, failsafeIsMonitoring());
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EXPECT_EQ(false, failsafeIsActive());
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EXPECT_EQ(FAILSAFE_IDLE, failsafePhase());
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}
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/****************************************************************************************/
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TEST(FlightFailsafeTest, TestFailsafeFirstArmedCycle)
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{
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// given
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ENABLE_ARMING_FLAG(ARMED);
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// when
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failsafeOnValidDataFailed(); // set last invalid sample at current time
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sysTickUptime += PERIOD_RXDATA_RECOVERY + 1; // adjust time to point just past the recovery time to
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failsafeOnValidDataReceived(); // cause a recovered link
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// and
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failsafeUpdateState();
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// then
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EXPECT_EQ(false, failsafeIsActive());
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EXPECT_EQ(FAILSAFE_IDLE, failsafePhase());
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}
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/****************************************************************************************/
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TEST(FlightFailsafeTest, TestFailsafeNotActivatedWhenReceivingData)
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{
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// when
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for (sysTickUptime = 0; sysTickUptime < PERIOD_OF_10_SCONDS; sysTickUptime++) {
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failsafeOnValidDataReceived();
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failsafeUpdateState();
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// then
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EXPECT_EQ(false, failsafeIsActive());
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EXPECT_EQ(FAILSAFE_IDLE, failsafePhase());
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}
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}
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/****************************************************************************************/
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TEST(FlightFailsafeTest, TestFailsafeDetectsRxLossAndStartsLanding)
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{
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// given
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ENABLE_ARMING_FLAG(ARMED);
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// and
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failsafeStartMonitoring();
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throttleStatus = THROTTLE_HIGH; // throttle HIGH to go for a failsafe landing procedure
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sysTickUptime = 0; // restart time from 0
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failsafeOnValidDataReceived(); // set last valid sample at current time
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// when
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for (sysTickUptime = 0; sysTickUptime < (uint32_t)(failsafeConfig.failsafe_delay * MILLIS_PER_TENTH_SECOND + PERIOD_RXDATA_FAILURE); sysTickUptime++) {
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failsafeOnValidDataFailed();
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failsafeUpdateState();
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// then
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EXPECT_EQ(false, failsafeIsActive());
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EXPECT_EQ(FAILSAFE_IDLE, failsafePhase());
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}
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// given
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sysTickUptime++; // adjust time to point just past the failure time to
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failsafeOnValidDataFailed(); // cause a lost link
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// when
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failsafeUpdateState();
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// then
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EXPECT_EQ(FAILSAFE_LANDING, failsafePhase());
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EXPECT_EQ(true, failsafeIsActive());
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}
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/****************************************************************************************/
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TEST(FlightFailsafeTest, TestFailsafeCausesLanding)
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{
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// given
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sysTickUptime += failsafeConfig.failsafe_off_delay * MILLIS_PER_TENTH_SECOND;
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sysTickUptime++;
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// when
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// no call to failsafeOnValidDataReceived();
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failsafeUpdateState();
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// then
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EXPECT_EQ(true, failsafeIsActive());
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EXPECT_EQ(FAILSAFE_RX_LOSS_MONITORING, failsafePhase());
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EXPECT_EQ(1, CALL_COUNTER(COUNTER_MW_DISARM));
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EXPECT_TRUE(ARMING_FLAG(PREVENT_ARMING));
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// given
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failsafeOnValidDataFailed(); // set last invalid sample at current time
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sysTickUptime += PERIOD_RXDATA_RECOVERY + 1; // adjust time to point just past the recovery time to
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failsafeOnValidDataReceived(); // cause a recovered link
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// when
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failsafeUpdateState();
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// then
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EXPECT_EQ(true, failsafeIsActive());
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EXPECT_EQ(FAILSAFE_RX_LOSS_MONITORING, failsafePhase());
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EXPECT_EQ(1, CALL_COUNTER(COUNTER_MW_DISARM));
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EXPECT_TRUE(ARMING_FLAG(PREVENT_ARMING));
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// given
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sysTickUptime += PERIOD_OF_30_SECONDS + 1; // adjust time to point just past the required additional recovery time
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failsafeOnValidDataReceived();
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// when
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failsafeUpdateState();
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// then
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EXPECT_EQ(false, failsafeIsActive());
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EXPECT_EQ(FAILSAFE_IDLE, failsafePhase());
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EXPECT_EQ(1, CALL_COUNTER(COUNTER_MW_DISARM)); // disarm not called repeatedly.
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EXPECT_FALSE(ARMING_FLAG(PREVENT_ARMING));
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}
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/****************************************************************************************/
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TEST(FlightFailsafeTest, TestFailsafeDetectsRxLossAndJustDisarms)
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{
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// given
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DISABLE_ARMING_FLAG(ARMED);
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resetCallCounters();
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// and
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failsafeStartMonitoring();
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throttleStatus = THROTTLE_LOW; // throttle LOW to go for a failsafe just-disarm procedure
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sysTickUptime = 0; // restart time from 0
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failsafeOnValidDataReceived(); // set last valid sample at current time
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// when
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for (sysTickUptime = 0; sysTickUptime < (uint32_t)(failsafeConfig.failsafe_delay * MILLIS_PER_TENTH_SECOND + PERIOD_RXDATA_FAILURE); sysTickUptime++) {
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failsafeOnValidDataFailed();
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failsafeUpdateState();
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// then
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EXPECT_EQ(false, failsafeIsActive());
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EXPECT_EQ(FAILSAFE_IDLE, failsafePhase());
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}
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// given
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sysTickUptime++; // adjust time to point just past the failure time to
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failsafeOnValidDataFailed(); // cause a lost link
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ENABLE_ARMING_FLAG(ARMED); // armed from here (disarmed state has cleared throttleLowPeriod).
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// when
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failsafeUpdateState();
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// then
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EXPECT_EQ(true, failsafeIsActive());
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EXPECT_EQ(FAILSAFE_RX_LOSS_MONITORING, failsafePhase());
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EXPECT_EQ(1, CALL_COUNTER(COUNTER_MW_DISARM));
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EXPECT_TRUE(ARMING_FLAG(PREVENT_ARMING));
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// given
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failsafeOnValidDataFailed(); // set last invalid sample at current time
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sysTickUptime += PERIOD_RXDATA_RECOVERY + 1; // adjust time to point just past the recovery time to
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failsafeOnValidDataReceived(); // cause a recovered link
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// when
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failsafeUpdateState();
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// then
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EXPECT_EQ(true, failsafeIsActive());
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EXPECT_EQ(FAILSAFE_RX_LOSS_MONITORING, failsafePhase());
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EXPECT_EQ(1, CALL_COUNTER(COUNTER_MW_DISARM));
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EXPECT_TRUE(ARMING_FLAG(PREVENT_ARMING));
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// given
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sysTickUptime += PERIOD_OF_3_SECONDS + 1; // adjust time to point just past the required additional recovery time
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failsafeOnValidDataReceived();
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// when
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failsafeUpdateState();
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// then
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EXPECT_EQ(false, failsafeIsActive());
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EXPECT_EQ(FAILSAFE_IDLE, failsafePhase());
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EXPECT_EQ(1, CALL_COUNTER(COUNTER_MW_DISARM)); // disarm not called repeatedly.
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EXPECT_FALSE(ARMING_FLAG(PREVENT_ARMING));
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}
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/****************************************************************************************/
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TEST(FlightFailsafeTest, TestFailsafeDetectsKillswitchEvent)
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{
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// given
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ENABLE_ARMING_FLAG(ARMED);
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resetCallCounters();
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failsafeStartMonitoring();
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// and
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throttleStatus = THROTTLE_HIGH; // throttle HIGH to go for a failsafe landing procedure
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failsafeConfig.failsafe_kill_switch = 1; // configure AUX switch as kill switch
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ACTIVATE_RC_MODE(BOXFAILSAFE); // and activate it
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sysTickUptime = 0; // restart time from 0
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failsafeOnValidDataReceived(); // set last valid sample at current time
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sysTickUptime = PERIOD_RXDATA_FAILURE + 1; // adjust time to point just past the failure time to
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failsafeOnValidDataFailed(); // cause a lost link
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// when
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failsafeUpdateState(); // kill switch handling should come first
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// then
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EXPECT_EQ(true, failsafeIsActive());
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EXPECT_TRUE(ARMING_FLAG(PREVENT_ARMING));
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EXPECT_EQ(1, CALL_COUNTER(COUNTER_MW_DISARM));
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EXPECT_EQ(FAILSAFE_RX_LOSS_MONITORING, failsafePhase());
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// given
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failsafeOnValidDataFailed(); // set last invalid sample at current time
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sysTickUptime += PERIOD_RXDATA_RECOVERY + 1; // adjust time to point just past the recovery time to
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failsafeOnValidDataReceived(); // cause a recovered link
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rcModeActivationMask = DE_ACTIVATE_ALL_BOXES; // BOXFAILSAFE must be off (kill switch)
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// when
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failsafeUpdateState();
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// then
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EXPECT_EQ(true, failsafeIsActive());
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EXPECT_TRUE(ARMING_FLAG(PREVENT_ARMING));
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EXPECT_EQ(1, CALL_COUNTER(COUNTER_MW_DISARM));
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EXPECT_EQ(FAILSAFE_RX_LOSS_MONITORING, failsafePhase());
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// given
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sysTickUptime += PERIOD_OF_1_SECONDS + 1; // adjust time to point just past the required additional recovery time
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failsafeOnValidDataReceived();
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// when
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failsafeUpdateState();
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// then
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EXPECT_EQ(false, failsafeIsActive());
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EXPECT_EQ(FAILSAFE_IDLE, failsafePhase());
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EXPECT_EQ(1, CALL_COUNTER(COUNTER_MW_DISARM)); // disarm not called repeatedly.
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EXPECT_FALSE(ARMING_FLAG(PREVENT_ARMING));
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}
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/****************************************************************************************/
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//
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// Additional non-stepwise tests
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//
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/****************************************************************************************/
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TEST(FlightFailsafeTest, TestFailsafeNotActivatedWhenDisarmedAndRXLossIsDetected)
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{
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// given
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configureFailsafe();
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// and
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useFailsafeConfig(&failsafeConfig);
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failsafeInit(&rxConfig);
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// and
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DISABLE_ARMING_FLAG(ARMED);
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// when
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failsafeStartMonitoring();
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// and
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sysTickUptime = 0; // restart time from 0
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failsafeOnValidDataReceived(); // set last valid sample at current time
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// when
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for (sysTickUptime = 0; sysTickUptime < PERIOD_RXDATA_FAILURE; sysTickUptime++) {
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failsafeOnValidDataFailed();
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failsafeUpdateState();
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// then
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EXPECT_EQ(false, failsafeIsActive());
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EXPECT_EQ(FAILSAFE_IDLE, failsafePhase());
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}
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// given
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sysTickUptime++; // adjust time to point just past the failure time to
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failsafeOnValidDataFailed(); // cause a lost link
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// when
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failsafeUpdateState();
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// then
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EXPECT_EQ(true, failsafeIsMonitoring());
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EXPECT_EQ(false, failsafeIsActive());
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EXPECT_EQ(FAILSAFE_IDLE, failsafePhase());
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EXPECT_EQ(1, CALL_COUNTER(COUNTER_MW_DISARM));
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EXPECT_FALSE(ARMING_FLAG(PREVENT_ARMING));
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}
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// STUBS
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extern "C" {
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int16_t rcData[MAX_SUPPORTED_RC_CHANNEL_COUNT];
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uint8_t armingFlags;
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int16_t rcCommand[4];
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uint32_t rcModeActivationMask;
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int16_t debug[DEBUG16_VALUE_COUNT];
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bool isUsingSticksToArm = true;
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// Return system uptime in milliseconds (rollover in 49 days)
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uint32_t millis(void)
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{
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return sysTickUptime;
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}
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throttleStatus_e calculateThrottleStatus(rxConfig_t *rxConfig, uint16_t deadband3d_throttle)
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{
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UNUSED(rxConfig);
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UNUSED(deadband3d_throttle);
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return throttleStatus;
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}
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void delay(uint32_t) {}
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bool feature(uint32_t mask) {
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return (mask & testFeatureMask);
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}
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void mwDisarm(void) {
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callCounts[COUNTER_MW_DISARM]++;
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}
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void beeper(beeperMode_e mode) {
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UNUSED(mode);
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}
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uint16_t enableFlightMode(flightModeFlags_e mask)
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{
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flightModeFlags |= (mask);
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return flightModeFlags;
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}
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uint16_t disableFlightMode(flightModeFlags_e mask)
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{
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flightModeFlags &= ~(mask);
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return flightModeFlags;
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}
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uint16_t getCurrentMinthrottle(void)
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{
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return testMinThrottle;
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}
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bool isUsingSticksForArming(void)
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{
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return isUsingSticksToArm;
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}
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}
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