mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-23 08:15:30 +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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@ -63,7 +63,7 @@ extern "C" {
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#include "rx/rx.h"
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void osdRefresh(timeUs_t currentTimeUs);
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void osdUpdate(timeUs_t currentTimeUs);
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void osdFormatTime(char * buff, osd_timer_precision_e precision, timeUs_t time);
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int osdConvertTemperatureToSelectedUnit(int tempInDegreesCelcius);
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@ -120,6 +120,7 @@ void setDefaultSimulationState()
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memset(osdElementConfigMutable(), 0, sizeof(osdElementConfig_t));
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osdConfigMutable()->enabled_stats = 0;
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osdConfigMutable()->framerate_hz = 12;
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rssi = 1024;
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@ -135,10 +136,19 @@ void setDefaultSimulationState()
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rcData[PITCH] = 1500;
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simulationTime = 0;
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osdFlyTime = 0;
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DISABLE_ARMING_FLAG(ARMED);
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}
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void osdRefresh()
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{
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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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simulationTime += 0.1e6;
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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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* (reused throughout the test suite)
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@ -149,9 +159,10 @@ 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 += 5e6;
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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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osdRefresh();
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// then
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// arming alert displayed
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@ -163,7 +174,7 @@ 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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osdRefresh();
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// then
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// arming alert disappears
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@ -194,7 +205,7 @@ 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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osdRefresh();
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// then
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// post flight statistics displayed
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@ -240,7 +251,10 @@ void simulateFlight(void)
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simulationBatteryVoltage = 1580;
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simulationAltitude = 100;
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simulationTime += 1e6;
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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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rssi = 512;
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gpsSol.groundSpeed = 800;
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@ -249,7 +263,10 @@ void simulateFlight(void)
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simulationBatteryVoltage = 1470;
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simulationAltitude = 150;
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simulationTime += 1e6;
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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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rssi = 256;
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gpsSol.groundSpeed = 200;
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@ -258,7 +275,10 @@ void simulateFlight(void)
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simulationBatteryVoltage = 1520;
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simulationAltitude = 200;
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simulationTime += 1e6;
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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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rssi = 256;
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gpsSol.groundSpeed = 800;
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@ -267,11 +287,17 @@ void simulateFlight(void)
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simulationBatteryVoltage = 1470;
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simulationAltitude = 200; // converts to 6.56168 feet which rounds to 6.6 in imperial units stats test
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simulationTime += 1e6;
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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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simulationBatteryVoltage = 1520;
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simulationTime += 1e6;
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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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rssi = 256;
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gpsSol.groundSpeed = 800;
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@ -280,11 +306,13 @@ void simulateFlight(void)
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simulationBatteryVoltage = 1470;
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simulationAltitude = 200;
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simulationTime += 1e6;
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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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simulationBatteryVoltage = 1520;
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simulationTime += 1e6;
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osdRefresh(simulationTime);
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}
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class OsdTest : public ::testing::Test
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@ -312,6 +340,14 @@ protected:
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TEST_F(OsdTest, TestInit)
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{
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// given
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// display port is initialised
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displayPortTestInit();
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// and
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// default state values are set
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setDefaultSimulationState();
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// and
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// this battery configuration (used for battery voltage elements)
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batteryConfigMutable()->vbatmincellvoltage = 330;
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batteryConfigMutable()->vbatmaxcellvoltage = 430;
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@ -320,6 +356,8 @@ TEST_F(OsdTest, TestInit)
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// OSD is initialised
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osdInit(&testDisplayPort, OSD_DISPLAYPORT_DEVICE_AUTO);
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osdRefresh();
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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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@ -329,7 +367,7 @@ TEST_F(OsdTest, 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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osdRefresh();
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// then
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// display buffer should be empty
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@ -362,7 +400,7 @@ TEST_F(OsdTest, TestDisarm)
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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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osdRefresh();
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// then
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// post flight stats screen disappears
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@ -399,7 +437,7 @@ TEST_F(OsdTest, TestDisarmWithDismissStats)
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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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osdRefresh();
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// then
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// post flight stats screen disappears
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@ -446,7 +484,7 @@ TEST_F(OsdTest, TestStatsTiming)
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// and
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// these conditions occur during flight
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simulationTime += 1e6;
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osdRefresh(simulationTime);
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osdRefresh();
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// and
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// the craft is disarmed
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@ -459,7 +497,7 @@ TEST_F(OsdTest, TestStatsTiming)
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// and
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// these conditions occur during flight
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simulationTime += 1e6;
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osdRefresh(simulationTime);
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osdRefresh();
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// and
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// the craft is disarmed
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@ -469,7 +507,7 @@ TEST_F(OsdTest, TestStatsTiming)
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// statistics screen should display the following
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int row = 7;
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displayPortTestBufferSubstring(2, row++, "2017-11-19 10:12:");
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displayPortTestBufferSubstring(2, row++, "TOTAL ARM : 00:02.50");
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displayPortTestBufferSubstring(2, row++, "TOTAL ARM : 00:13.61");
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displayPortTestBufferSubstring(2, row++, "LAST ARM : 00:01");
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}
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@ -598,7 +636,7 @@ TEST_F(OsdTest, TestAlarms)
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osdElementConfigMutable()->item_pos[OSD_MAIN_BATT_VOLTAGE] = OSD_POS(12, 1) | OSD_PROFILE_1_FLAG;
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osdElementConfigMutable()->item_pos[OSD_ITEM_TIMER_1] = OSD_POS(20, 1) | OSD_PROFILE_1_FLAG;
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osdElementConfigMutable()->item_pos[OSD_ITEM_TIMER_2] = OSD_POS(1, 1) | OSD_PROFILE_1_FLAG;
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osdElementConfigMutable()->item_pos[OSD_REMAINING_TIME_ESTIMATE] = OSD_POS(1, 2) | OSD_PROFILE_1_FLAG;
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osdElementConfigMutable()->item_pos[OSD_REMAINING_TIME_ESTIMATE] = OSD_POS(1, 2) | OSD_PROFILE_1_FLAG;
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osdElementConfigMutable()->item_pos[OSD_ALTITUDE] = OSD_POS(23, 7) | OSD_PROFILE_1_FLAG;
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// and
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@ -611,10 +649,10 @@ TEST_F(OsdTest, TestAlarms)
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// and
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// this timer 1 configuration
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osdConfigMutable()->timers[OSD_TIMER_1] = OSD_TIMER(OSD_TIMER_SRC_ON, OSD_TIMER_PREC_HUNDREDTHS, 3);
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osdConfigMutable()->timers[OSD_TIMER_1] = OSD_TIMER(OSD_TIMER_SRC_ON, OSD_TIMER_PREC_HUNDREDTHS, 5);
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EXPECT_EQ(OSD_TIMER_SRC_ON, OSD_TIMER_SRC(osdConfig()->timers[OSD_TIMER_1]));
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EXPECT_EQ(OSD_TIMER_PREC_HUNDREDTHS, OSD_TIMER_PRECISION(osdConfig()->timers[OSD_TIMER_1]));
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EXPECT_EQ(3, OSD_TIMER_ALARM(osdConfig()->timers[OSD_TIMER_1]));
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EXPECT_EQ(5, OSD_TIMER_ALARM(osdConfig()->timers[OSD_TIMER_1]));
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// and
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// this timer 2 configuration
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@ -630,21 +668,21 @@ TEST_F(OsdTest, TestAlarms)
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// when
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// time is passing by
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simulationTime += 60e6;
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osdRefresh(simulationTime);
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osdRefresh();
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// and
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// the craft is armed
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doTestArm(false);
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simulationTime += 70e6;
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osdRefresh(simulationTime);
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osdRefresh();
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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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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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osdRefresh();
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#ifdef DEBUG_OSD
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printf("%d\n", i);
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@ -652,7 +690,7 @@ TEST_F(OsdTest, TestAlarms)
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displayPortTestBufferSubstring(1, 1, "%c01:", SYM_FLY_M); // only test the minute part of the timer
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displayPortTestBufferSubstring(8, 1, "%c99", SYM_RSSI);
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displayPortTestBufferSubstring(12, 1, "%c16.8%c", SYM_BATT_FULL, SYM_VOLT);
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displayPortTestBufferSubstring(20, 1, "%c02:", SYM_ON_M); // only test the minute part of the timer
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displayPortTestBufferSubstring(20, 1, "%c04:", SYM_ON_M); // only test the minute part of the timer
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displayPortTestBufferSubstring(23, 7, "%c0.0%c", SYM_ALTITUDE, SYM_M);
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}
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@ -665,14 +703,17 @@ TEST_F(OsdTest, TestAlarms)
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simulationMahDrawn = 999999;
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simulationTime += 60e6;
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osdRefresh(simulationTime);
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osdRefresh();
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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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timeUs_t 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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osdRefresh();
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#ifdef DEBUG_OSD
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printf("%d\n", i);
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@ -682,7 +723,7 @@ TEST_F(OsdTest, TestAlarms)
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displayPortTestBufferSubstring(8, 1, "%c12", SYM_RSSI);
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displayPortTestBufferSubstring(12, 1, "%c13.5%c", SYM_MAIN_BATT, SYM_VOLT);
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displayPortTestBufferSubstring(1, 1, "%c02:", SYM_FLY_M); // only test the minute part of the timer
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displayPortTestBufferSubstring(20, 1, "%c03:", SYM_ON_M); // only test the minute part of the timer
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displayPortTestBufferSubstring(20, 1, "%c05:", SYM_ON_M); // only test the minute part of the timer
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displayPortTestBufferSubstring(23, 7, "%c120.0%c", SYM_ALTITUDE, SYM_M);
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} else {
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displayPortTestBufferIsEmpty();
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@ -704,7 +745,7 @@ TEST_F(OsdTest, TestElementRssi)
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// when
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rssi = 1024;
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displayClearScreen(&testDisplayPort);
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osdRefresh(simulationTime);
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osdRefresh();
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// then
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displayPortTestBufferSubstring(8, 1, "%c99", SYM_RSSI);
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@ -712,7 +753,7 @@ TEST_F(OsdTest, TestElementRssi)
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// when
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rssi = 0;
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displayClearScreen(&testDisplayPort);
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osdRefresh(simulationTime);
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osdRefresh();
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// then
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displayPortTestBufferSubstring(8, 1, "%c 0", SYM_RSSI);
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@ -720,7 +761,7 @@ TEST_F(OsdTest, TestElementRssi)
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// when
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rssi = 512;
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displayClearScreen(&testDisplayPort);
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osdRefresh(simulationTime);
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osdRefresh();
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// then
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displayPortTestBufferSubstring(8, 1, "%c50", SYM_RSSI);
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@ -739,7 +780,7 @@ TEST_F(OsdTest, TestElementAmperage)
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// when
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simulationBatteryAmperage = 0;
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displayClearScreen(&testDisplayPort);
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osdRefresh(simulationTime);
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osdRefresh();
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// then
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displayPortTestBufferSubstring(1, 12, " 0.00%c", SYM_AMP);
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@ -747,7 +788,7 @@ TEST_F(OsdTest, TestElementAmperage)
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// when
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simulationBatteryAmperage = 2156;
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displayClearScreen(&testDisplayPort);
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osdRefresh(simulationTime);
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osdRefresh();
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// then
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displayPortTestBufferSubstring(1, 12, " 21.56%c", SYM_AMP);
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@ -755,7 +796,7 @@ TEST_F(OsdTest, TestElementAmperage)
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// when
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simulationBatteryAmperage = 12345;
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displayClearScreen(&testDisplayPort);
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osdRefresh(simulationTime);
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osdRefresh();
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// then
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displayPortTestBufferSubstring(1, 12, "123.45%c", SYM_AMP);
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@ -774,7 +815,7 @@ TEST_F(OsdTest, TestElementMahDrawn)
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// when
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simulationMahDrawn = 0;
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displayClearScreen(&testDisplayPort);
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osdRefresh(simulationTime);
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osdRefresh();
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// then
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displayPortTestBufferSubstring(1, 11, " 0%c", SYM_MAH);
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@ -782,7 +823,7 @@ TEST_F(OsdTest, TestElementMahDrawn)
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// when
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simulationMahDrawn = 4;
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displayClearScreen(&testDisplayPort);
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osdRefresh(simulationTime);
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osdRefresh();
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// then
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displayPortTestBufferSubstring(1, 11, " 4%c", SYM_MAH);
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@ -790,7 +831,7 @@ TEST_F(OsdTest, TestElementMahDrawn)
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// when
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simulationMahDrawn = 15;
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displayClearScreen(&testDisplayPort);
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osdRefresh(simulationTime);
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osdRefresh();
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// then
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displayPortTestBufferSubstring(1, 11, " 15%c", SYM_MAH);
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@ -798,7 +839,7 @@ TEST_F(OsdTest, TestElementMahDrawn)
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// when
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simulationMahDrawn = 246;
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displayClearScreen(&testDisplayPort);
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osdRefresh(simulationTime);
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osdRefresh();
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// then
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displayPortTestBufferSubstring(1, 11, " 246%c", SYM_MAH);
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@ -806,7 +847,7 @@ TEST_F(OsdTest, TestElementMahDrawn)
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// when
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simulationMahDrawn = 1042;
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displayClearScreen(&testDisplayPort);
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osdRefresh(simulationTime);
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osdRefresh();
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// then
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displayPortTestBufferSubstring(1, 11, "1042%c", SYM_MAH);
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@ -830,7 +871,7 @@ TEST_F(OsdTest, TestElementPower)
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// when
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displayClearScreen(&testDisplayPort);
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osdRefresh(simulationTime);
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osdRefresh();
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// then
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displayPortTestBufferSubstring(1, 10, " 0W");
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@ -840,7 +881,7 @@ TEST_F(OsdTest, TestElementPower)
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// when
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displayClearScreen(&testDisplayPort);
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osdRefresh(simulationTime);
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osdRefresh();
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// then
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displayPortTestBufferSubstring(1, 10, " 1W");
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@ -850,7 +891,7 @@ TEST_F(OsdTest, TestElementPower)
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// when
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displayClearScreen(&testDisplayPort);
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osdRefresh(simulationTime);
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osdRefresh();
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// then
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displayPortTestBufferSubstring(1, 10, " 12W");
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@ -860,7 +901,7 @@ TEST_F(OsdTest, TestElementPower)
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// when
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displayClearScreen(&testDisplayPort);
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osdRefresh(simulationTime);
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osdRefresh();
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// then
|
||||
displayPortTestBufferSubstring(1, 10, " 123W");
|
||||
|
|
@ -870,7 +911,7 @@ TEST_F(OsdTest, TestElementPower)
|
|||
|
||||
// when
|
||||
displayClearScreen(&testDisplayPort);
|
||||
osdRefresh(simulationTime);
|
||||
osdRefresh();
|
||||
|
||||
// then
|
||||
displayPortTestBufferSubstring(1, 10, "1234W");
|
||||
|
|
@ -893,7 +934,7 @@ TEST_F(OsdTest, TestElementAltitude)
|
|||
// when
|
||||
simulationAltitude = 0;
|
||||
displayClearScreen(&testDisplayPort);
|
||||
osdRefresh(simulationTime);
|
||||
osdRefresh();
|
||||
|
||||
// then
|
||||
displayPortTestBufferSubstring(23, 7, "%c-", SYM_ALTITUDE);
|
||||
|
|
@ -901,7 +942,7 @@ TEST_F(OsdTest, TestElementAltitude)
|
|||
// when
|
||||
sensorsSet(SENSOR_GPS);
|
||||
displayClearScreen(&testDisplayPort);
|
||||
osdRefresh(simulationTime);
|
||||
osdRefresh();
|
||||
|
||||
// then
|
||||
displayPortTestBufferSubstring(23, 7, "%c0.0%c", SYM_ALTITUDE, SYM_M);
|
||||
|
|
@ -909,7 +950,7 @@ TEST_F(OsdTest, TestElementAltitude)
|
|||
// when
|
||||
simulationAltitude = 247; // rounds to 2.5m
|
||||
displayClearScreen(&testDisplayPort);
|
||||
osdRefresh(simulationTime);
|
||||
osdRefresh();
|
||||
|
||||
// then
|
||||
displayPortTestBufferSubstring(23, 7, "%c2.5%c", SYM_ALTITUDE, SYM_M);
|
||||
|
|
@ -917,7 +958,7 @@ TEST_F(OsdTest, TestElementAltitude)
|
|||
// when
|
||||
simulationAltitude = 4247; // rounds to 42.5m
|
||||
displayClearScreen(&testDisplayPort);
|
||||
osdRefresh(simulationTime);
|
||||
osdRefresh();
|
||||
|
||||
// then
|
||||
displayPortTestBufferSubstring(23, 7, "%c42.5%c", SYM_ALTITUDE, SYM_M);
|
||||
|
|
@ -925,7 +966,7 @@ TEST_F(OsdTest, TestElementAltitude)
|
|||
// when
|
||||
simulationAltitude = -247; // rounds to -2.5m
|
||||
displayClearScreen(&testDisplayPort);
|
||||
osdRefresh(simulationTime);
|
||||
osdRefresh();
|
||||
|
||||
// then
|
||||
displayPortTestBufferSubstring(23, 7, "%c-2.5%c", SYM_ALTITUDE, SYM_M);
|
||||
|
|
@ -933,7 +974,7 @@ TEST_F(OsdTest, TestElementAltitude)
|
|||
// when
|
||||
simulationAltitude = -70;
|
||||
displayClearScreen(&testDisplayPort);
|
||||
osdRefresh(simulationTime);
|
||||
osdRefresh();
|
||||
|
||||
// then
|
||||
displayPortTestBufferSubstring(23, 7, "%c-0.7%c", SYM_ALTITUDE, SYM_M);
|
||||
|
|
@ -958,7 +999,7 @@ TEST_F(OsdTest, TestElementCoreTemperature)
|
|||
|
||||
// when
|
||||
displayClearScreen(&testDisplayPort);
|
||||
osdRefresh(simulationTime);
|
||||
osdRefresh();
|
||||
|
||||
// then
|
||||
displayPortTestBufferSubstring(1, 8, "C%c 0%c", SYM_TEMPERATURE, SYM_C);
|
||||
|
|
@ -968,7 +1009,7 @@ TEST_F(OsdTest, TestElementCoreTemperature)
|
|||
|
||||
// when
|
||||
displayClearScreen(&testDisplayPort);
|
||||
osdRefresh(simulationTime);
|
||||
osdRefresh();
|
||||
|
||||
// then
|
||||
displayPortTestBufferSubstring(1, 8, "C%c 33%c", SYM_TEMPERATURE, SYM_C);
|
||||
|
|
@ -978,7 +1019,7 @@ TEST_F(OsdTest, TestElementCoreTemperature)
|
|||
|
||||
// when
|
||||
displayClearScreen(&testDisplayPort);
|
||||
osdRefresh(simulationTime);
|
||||
osdRefresh();
|
||||
|
||||
// then
|
||||
displayPortTestBufferSubstring(1, 8, "C%c 91%c", SYM_TEMPERATURE, SYM_F);
|
||||
|
|
@ -1012,7 +1053,10 @@ TEST_F(OsdTest, TestElementWarningsBattery)
|
|||
|
||||
// when
|
||||
displayClearScreen(&testDisplayPort);
|
||||
osdRefresh(simulationTime);
|
||||
// Delay as the warnings are flashing
|
||||
simulationTime += 1000000;
|
||||
simulationTime -= simulationTime % 1000000;
|
||||
osdRefresh();
|
||||
|
||||
// then
|
||||
displayPortTestBufferSubstring(9, 10, "BATT < FULL");
|
||||
|
|
@ -1024,7 +1068,7 @@ TEST_F(OsdTest, TestElementWarningsBattery)
|
|||
|
||||
// when
|
||||
displayClearScreen(&testDisplayPort);
|
||||
osdRefresh(simulationTime);
|
||||
osdRefresh();
|
||||
|
||||
// then
|
||||
displayPortTestBufferSubstring(9, 10, " ");
|
||||
|
|
@ -1036,7 +1080,11 @@ TEST_F(OsdTest, TestElementWarningsBattery)
|
|||
|
||||
// when
|
||||
displayClearScreen(&testDisplayPort);
|
||||
osdRefresh(simulationTime);
|
||||
// Delay as the warnings are flashing
|
||||
simulationTime += 1000000;
|
||||
simulationTime -= simulationTime % 1000000;
|
||||
simulationTime += 0.25e6;
|
||||
osdRefresh();
|
||||
|
||||
// then
|
||||
displayPortTestBufferSubstring(9, 10, "LOW BATTERY ");
|
||||
|
|
@ -1048,8 +1096,11 @@ TEST_F(OsdTest, TestElementWarningsBattery)
|
|||
|
||||
// when
|
||||
displayClearScreen(&testDisplayPort);
|
||||
osdRefresh(simulationTime);
|
||||
osdRefresh(simulationTime);
|
||||
// Delay as the warnings are flashing
|
||||
simulationTime += 1000000;
|
||||
simulationTime -= simulationTime % 1000000;
|
||||
simulationTime += 0.25e6;
|
||||
osdRefresh();
|
||||
|
||||
// then
|
||||
displayPortTestBufferSubstring(9, 10, " LAND NOW ");
|
||||
|
|
@ -1061,7 +1112,7 @@ TEST_F(OsdTest, TestElementWarningsBattery)
|
|||
|
||||
// when
|
||||
displayClearScreen(&testDisplayPort);
|
||||
osdRefresh(simulationTime);
|
||||
osdRefresh();
|
||||
|
||||
// then
|
||||
displayPortTestBufferSubstring(9, 10, " ");
|
||||
|
|
@ -1149,16 +1200,19 @@ TEST_F(OsdTest, TestGpsElements)
|
|||
gpsSol.numSat = 0;
|
||||
|
||||
displayClearScreen(&testDisplayPort);
|
||||
osdRefresh(simulationTime);
|
||||
osdRefresh();
|
||||
|
||||
// then
|
||||
// Sat indicator should blink and show "NC"
|
||||
simulationTime += 1000000;
|
||||
simulationTime -= simulationTime % 1000000;
|
||||
timeUs_t startTime = simulationTime;
|
||||
for (int i = 0; i < 15; i++) {
|
||||
// Blinking should happen at 5Hz
|
||||
simulationTime += 0.2e6;
|
||||
osdRefresh(simulationTime);
|
||||
// Blinking should happen at 2Hz
|
||||
simulationTime = startTime + i*0.25e6;
|
||||
osdRefresh();
|
||||
|
||||
if (i % 2 == 0) {
|
||||
if (i % 2 == 1) {
|
||||
displayPortTestBufferSubstring(2, 4, "%c%cNC", SYM_SAT_L, SYM_SAT_R);
|
||||
} else {
|
||||
displayPortTestBufferIsEmpty();
|
||||
|
|
@ -1170,16 +1224,19 @@ TEST_F(OsdTest, TestGpsElements)
|
|||
gpsSol.numSat = 0;
|
||||
|
||||
displayClearScreen(&testDisplayPort);
|
||||
osdRefresh(simulationTime);
|
||||
osdRefresh();
|
||||
|
||||
// then
|
||||
// Sat indicator should blink and show "0"
|
||||
simulationTime += 1000000;
|
||||
simulationTime -= simulationTime % 1000000;
|
||||
startTime = simulationTime;
|
||||
for (int i = 0; i < 15; i++) {
|
||||
// Blinking should happen at 5Hz
|
||||
simulationTime += 0.2e6;
|
||||
osdRefresh(simulationTime);
|
||||
// Blinking should happen at 2Hz
|
||||
simulationTime = startTime + i*0.25e6;
|
||||
osdRefresh();
|
||||
|
||||
if (i % 2 == 0) {
|
||||
if (i % 2 == 1) {
|
||||
displayPortTestBufferSubstring(2, 4, "%c%c 0", SYM_SAT_L, SYM_SAT_R);
|
||||
} else {
|
||||
displayPortTestBufferIsEmpty();
|
||||
|
|
@ -1191,14 +1248,14 @@ TEST_F(OsdTest, TestGpsElements)
|
|||
gpsSol.numSat = 10;
|
||||
|
||||
displayClearScreen(&testDisplayPort);
|
||||
osdRefresh(simulationTime);
|
||||
osdRefresh();
|
||||
|
||||
// then
|
||||
// Sat indicator should show "10" without flashing
|
||||
for (int i = 0; i < 15; i++) {
|
||||
// Blinking should happen at 5Hz
|
||||
// Blinking should happen at 2Hz
|
||||
simulationTime += 0.2e6;
|
||||
osdRefresh(simulationTime);
|
||||
osdRefresh();
|
||||
|
||||
displayPortTestBufferSubstring(2, 4, "%c%c10", SYM_SAT_L, SYM_SAT_R);
|
||||
}
|
||||
|
|
@ -1319,6 +1376,8 @@ extern "C" {
|
|||
bool isUpright(void) { return true; }
|
||||
float getMotorOutputLow(void) { return 1000.0; }
|
||||
float getMotorOutputHigh(void) { return 2047.0; }
|
||||
void ignoreTaskShortExecTime(void) {}
|
||||
void ignoreTaskStateTime(void) {}
|
||||
void ignoreTaskStateTime(void) { }
|
||||
void ignoreTaskExecRate(void) { }
|
||||
void ignoreTaskExecTime(void) { }
|
||||
void schedulerSetNextStateTime(timeDelta_t) {}
|
||||
}
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue