mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-19 14:25:20 +03:00
Track state execution time for OSD, baro, rx and GPS tasks and inform scheduler of next state execution time
This commit is contained in:
Steve Evans
Steve Evans
parent
a63172cc1f
commit
ab1baccc66
44 changed files with 1392 additions and 721 deletions
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@ -89,7 +89,7 @@ extern "C" {
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timeUs_t simulationTime = 0;
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void osdRefresh(timeUs_t currentTimeUs);
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void osdUpdate(timeUs_t currentTimeUs);
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uint16_t updateLinkQualitySamples(uint16_t value);
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#define LINK_QUALITY_SAMPLE_COUNT 16
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}
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@ -113,9 +113,8 @@ extern "C" {
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}
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void setDefaultSimulationState()
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{
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setLinkQualityDirect(LINK_QUALITY_MAX_VALUE);
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osdConfigMutable()->framerate_hz = 12;
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}
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/*
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* Performs a test of the OSD actions on arming.
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@ -127,9 +126,13 @@ void doTestArm(bool testEmpty = true)
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// craft has been armed
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ENABLE_ARMING_FLAG(ARMED);
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simulationTime += 0.1e6;
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// when
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// sufficient OSD updates have been called
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osdRefresh(simulationTime);
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while (osdUpdateCheck(simulationTime, 0)) {
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osdUpdate(simulationTime);
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simulationTime += 10;
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}
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// then
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// arming alert displayed
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@ -141,7 +144,10 @@ void doTestArm(bool testEmpty = true)
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// when
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// sufficient OSD updates have been called
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osdRefresh(simulationTime);
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while (osdUpdateCheck(simulationTime, 0)) {
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osdUpdate(simulationTime);
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simulationTime += 10;
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}
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// then
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// arming alert disappears
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@ -172,7 +178,10 @@ void doTestDisarm()
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// when
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// sufficient OSD updates have been called
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osdRefresh(simulationTime);
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while (osdUpdateCheck(simulationTime, 0)) {
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osdUpdate(simulationTime);
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simulationTime += 10;
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}
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// then
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// post flight statistics displayed
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@ -203,6 +212,11 @@ TEST(LQTest, TestInit)
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// OSD is initialised
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osdInit(&testDisplayPort, OSD_DISPLAYPORT_DEVICE_AUTO);
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while (osdUpdateCheck(simulationTime, 0)) {
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osdUpdate(simulationTime);
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simulationTime += 10;
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}
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// then
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// display buffer should contain splash screen
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displayPortTestBufferSubstring(7, 8, "MENU:THR MID");
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@ -212,7 +226,10 @@ TEST(LQTest, TestInit)
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// when
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// splash screen timeout has elapsed
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simulationTime += 4e6;
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osdUpdate(simulationTime);
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while (osdUpdateCheck(simulationTime, 0)) {
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osdUpdate(simulationTime);
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simulationTime += 10;
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}
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// then
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// display buffer should be empty
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@ -227,8 +244,6 @@ TEST(LQTest, TestInit)
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TEST(LQTest, TestElement_LQ_SOURCE_NONE_SAMPLES)
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{
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// given
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linkQualitySource = LQ_SOURCE_NONE;
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osdElementConfigMutable()->item_pos[OSD_LINK_QUALITY] = OSD_POS(8, 1) | OSD_PROFILE_1_FLAG;
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@ -241,9 +256,12 @@ TEST(LQTest, TestElement_LQ_SOURCE_NONE_SAMPLES)
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setLinkQualityDirect(updateLinkQualitySamples(LINK_QUALITY_MAX_VALUE));
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}
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simulationTime += 1000000;
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displayClearScreen(&testDisplayPort);
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osdRefresh(simulationTime);
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while (osdUpdateCheck(simulationTime, 0)) {
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osdUpdate(simulationTime);
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simulationTime += 10;
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}
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// then
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displayPortTestBufferSubstring(8, 1, "%c9", SYM_LINK_QUALITY);
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@ -254,12 +272,15 @@ TEST(LQTest, TestElement_LQ_SOURCE_NONE_SAMPLES)
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setLinkQualityDirect(updateLinkQualitySamples(0));
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}
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displayClearScreen(&testDisplayPort);
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osdRefresh(simulationTime);
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simulationTime += 1000000;
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while (osdUpdateCheck(simulationTime, 0)) {
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osdUpdate(simulationTime);
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simulationTime += 10;
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}
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// then
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displayPortTestBufferSubstring(8, 1, "%c4", SYM_LINK_QUALITY);
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}
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/*
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* Tests the Tests the OSD_LINK_QUALITY element values default LQ_SOURCE_NONE
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@ -268,7 +289,6 @@ TEST(LQTest, TestElement_LQ_SOURCE_NONE_VALUES)
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{
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// given
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linkQualitySource = LQ_SOURCE_NONE;
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osdElementConfigMutable()->item_pos[OSD_LINK_QUALITY] = OSD_POS(8, 1) | OSD_PROFILE_1_FLAG;
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@ -280,8 +300,11 @@ TEST(LQTest, TestElement_LQ_SOURCE_NONE_VALUES)
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for (int testdigit = 10; testdigit > 0; testdigit--) {
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testscale = testdigit * 102.3;
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setLinkQualityDirect(testscale);
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displayClearScreen(&testDisplayPort);
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osdRefresh(simulationTime);
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simulationTime += 100000;
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while (osdUpdateCheck(simulationTime, 0)) {
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osdUpdate(simulationTime);
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simulationTime += 10;
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}
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#ifdef DEBUG_OSD
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printf("%d %d\n",testscale, testdigit);
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displayPortTestPrint();
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@ -294,6 +317,7 @@ TEST(LQTest, TestElement_LQ_SOURCE_NONE_VALUES)
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}
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}
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}
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/*
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* Tests the OSD_LINK_QUALITY element LQ RX_PROTOCOL_CRSF.
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*/
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@ -307,8 +331,11 @@ TEST(LQTest, TestElementLQ_PROTOCOL_CRSF_VALUES)
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osdAnalyzeActiveElements();
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displayClearScreen(&testDisplayPort);
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osdRefresh(simulationTime);
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simulationTime += 1000000;
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while (osdUpdateCheck(simulationTime, 0)) {
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osdUpdate(simulationTime);
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simulationTime += 10;
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}
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// crsf setLinkQualityDirect 0-300;
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@ -319,18 +346,22 @@ TEST(LQTest, TestElementLQ_PROTOCOL_CRSF_VALUES)
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rxSetRfMode(m);
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// then rxGetLinkQuality Osd should be x
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// and RfMode should be m
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displayClearScreen(&testDisplayPort);
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osdRefresh(simulationTime);
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displayPortTestBufferSubstring(8, 1, "%c%1d:%2d", SYM_LINK_QUALITY, m, x);
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simulationTime += 100000;
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while (osdUpdateCheck(simulationTime, 0)) {
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osdUpdate(simulationTime);
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simulationTime += 10;
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}
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displayPortTestBufferSubstring(8, 1, "%c%1d:%2d", SYM_LINK_QUALITY, m, x);
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}
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}
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}
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/*
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* Tests the LQ Alarms
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*
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*/
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TEST(LQTest, TestLQAlarm)
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{
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timeUs_t startTime = simulationTime;
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// given
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// default state is set
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setDefaultSimulationState();
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@ -364,10 +395,17 @@ TEST(LQTest, TestLQAlarm)
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// then
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// no elements should flash as all values are out of alarm range
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// Ensure a consistent start time for testing
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simulationTime += 5000000;
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simulationTime -= simulationTime % 1000000;
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startTime = simulationTime;
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for (int i = 0; i < 30; i++) {
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// Check for visibility every 100ms, elements should always be visible
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simulationTime += 0.1e6;
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osdRefresh(simulationTime);
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simulationTime = startTime + i*0.1e6;
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while (osdUpdateCheck(simulationTime, 0)) {
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osdUpdate(simulationTime);
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simulationTime += 10;
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}
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#ifdef DEBUG_OSD
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printf("%d\n", i);
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@ -377,18 +415,25 @@ TEST(LQTest, TestLQAlarm)
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}
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setLinkQualityDirect(512);
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simulationTime += 60e6;
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osdRefresh(simulationTime);
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while (osdUpdateCheck(simulationTime, 0)) {
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osdUpdate(simulationTime);
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simulationTime += 10;
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}
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// then
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// elements showing values in alarm range should flash
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simulationTime += 1000000;
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simulationTime -= simulationTime % 1000000;
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startTime = simulationTime;
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for (int i = 0; i < 15; i++) {
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// Blinking should happen at 5Hz
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simulationTime += 0.2e6;
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osdRefresh(simulationTime);
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// Blinking should happen at 2Hz
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simulationTime = startTime + i*0.25e6;
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while (osdUpdateCheck(simulationTime, 0)) {
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osdUpdate(simulationTime);
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simulationTime += 10;
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}
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#ifdef DEBUG_OSD
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printf("%d\n", i);
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displayPortTestPrint();
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#endif
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if (i % 2 == 0) {
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@ -399,8 +444,12 @@ TEST(LQTest, TestLQAlarm)
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}
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doTestDisarm();
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simulationTime += 60e6;
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osdRefresh(simulationTime);
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simulationTime += 1000000;
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simulationTime -= simulationTime % 1000000;
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while (osdUpdateCheck(simulationTime, 0)) {
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osdUpdate(simulationTime);
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simulationTime += 10;
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}
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}
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// STUBS
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@ -461,6 +510,10 @@ extern "C" {
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void failsafeOnValidDataFailed(void) { }
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void pinioBoxTaskControl(void) { }
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bool taskUpdateRxMainInProgress() { return true; }
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void ignoreTaskStateTime(void) { }
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void ignoreTaskExecRate(void) { }
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void ignoreTaskExecTime(void) { }
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void schedulerSetNextStateTime(timeDelta_t) {}
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void rxPwmInit(rxRuntimeState_t *rxRuntimeState, rcReadRawDataFnPtr *callback)
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{
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@ -559,7 +612,4 @@ extern "C" {
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float getMotorOutputLow(void) { return 1000.0; }
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float getMotorOutputHigh(void) { return 2047.0; }
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void ignoreTaskShortExecTime(void) {}
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void ignoreTaskStateTime(void) {}
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}
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