From f283d2460ae03e2b56393b77b2ca56b72fbdba53 Mon Sep 17 00:00:00 2001 From: Dan Nixon Date: Thu, 3 Aug 2017 11:59:21 +0100 Subject: [PATCH] Test existing functionality --- src/test/Makefile | 8 + src/test/unit/arming_prevention_unittest.cc | 176 ++++++++++++++++++++ 2 files changed, 184 insertions(+) create mode 100644 src/test/unit/arming_prevention_unittest.cc diff --git a/src/test/Makefile b/src/test/Makefile index 55c466b20c..098272055c 100644 --- a/src/test/Makefile +++ b/src/test/Makefile @@ -28,6 +28,14 @@ altitude_hold_unittest_SRC := \ $(USER_DIR)/flight/altitude.c +arming_prevention_unittest_SRC := \ + $(USER_DIR)/fc/fc_core.c \ + $(USER_DIR)/fc/rc_controls.c \ + $(USER_DIR)/fc/rc_modes.c \ + $(USER_DIR)/fc/runtime_config.c \ + $(USER_DIR)/common/bitarray.c + + baro_bmp085_unittest_SRC := \ $(USER_DIR)/drivers/barometer/barometer_bmp085.c \ $(USER_DIR)/drivers/io.c diff --git a/src/test/unit/arming_prevention_unittest.cc b/src/test/unit/arming_prevention_unittest.cc new file mode 100644 index 0000000000..e2f9034e4e --- /dev/null +++ b/src/test/unit/arming_prevention_unittest.cc @@ -0,0 +1,176 @@ +/* + * This file is part of Cleanflight. + * + * Cleanflight is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * Cleanflight is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with Cleanflight. If not, see . + */ + +#include + +extern "C" { + #include "blackbox/blackbox.h" + #include "build/debug.h" + #include "common/maths.h" + #include "config/parameter_group.h" + #include "config/parameter_group_ids.h" + #include "fc/config.h" + #include "fc/controlrate_profile.h" + #include "fc/fc_core.h" + #include "fc/rc_controls.h" + #include "fc/rc_modes.h" + #include "fc/runtime_config.h" + #include "flight/imu.h" + #include "flight/mixer.h" + #include "flight/pid.h" + #include "flight/servos.h" + #include "io/beeper.h" + #include "io/gps.h" + #include "rx/rx.h" + #include "scheduler/scheduler.h" + #include "sensors/acceleration.h" + #include "sensors/gyro.h" + #include "telemetry/telemetry.h" + + PG_REGISTER(accelerometerConfig_t, accelerometerConfig, PG_ACCELEROMETER_CONFIG, 0); + PG_REGISTER(blackboxConfig_t, blackboxConfig, PG_BLACKBOX_CONFIG, 0); + PG_REGISTER(gyroConfig_t, gyroConfig, PG_GYRO_CONFIG, 0); + PG_REGISTER(mixerConfig_t, mixerConfig, PG_MIXER_CONFIG, 0); + PG_REGISTER(pidConfig_t, pidConfig, PG_PID_CONFIG, 0); + PG_REGISTER(rxConfig_t, rxConfig, PG_RX_CONFIG, 0); + PG_REGISTER(servoConfig_t, servoConfig, PG_SERVO_CONFIG, 0); + PG_REGISTER(systemConfig_t, systemConfig, PG_SYSTEM_CONFIG, 0); + PG_REGISTER(telemetryConfig_t, telemetryConfig, PG_TELEMETRY_CONFIG, 0); + + float rcCommand[4]; + int16_t rcData[MAX_SUPPORTED_RC_CHANNEL_COUNT]; + uint16_t averageSystemLoadPercent = 0; + uint8_t cliMode = 0; + uint8_t debugMode = 0; + int16_t debug[DEBUG16_VALUE_COUNT]; + pidProfile_t *currentPidProfile; + controlRateConfig_t *currentControlRateProfile; + attitudeEulerAngles_t attitude; + gpsSolutionData_t gpsSol; + uint32_t targetPidLooptime; + bool cmsInMenu = false; +} + +uint32_t simulationTime = 0; + +#include "gtest/gtest.h" + +TEST(ArmingPreventionTest, Prearm) +{ + // given + simulationTime = 0; + + // and + modeActivationConditionsMutable(0)->auxChannelIndex = 0; + modeActivationConditionsMutable(0)->modeId = BOXARM; + modeActivationConditionsMutable(0)->range.startStep = CHANNEL_VALUE_TO_STEP(1750); + modeActivationConditionsMutable(0)->range.endStep = CHANNEL_VALUE_TO_STEP(CHANNEL_RANGE_MAX); + modeActivationConditionsMutable(1)->auxChannelIndex = 1; + modeActivationConditionsMutable(1)->modeId = BOXPREARM; + modeActivationConditionsMutable(1)->range.startStep = CHANNEL_VALUE_TO_STEP(1750); + modeActivationConditionsMutable(1)->range.endStep = CHANNEL_VALUE_TO_STEP(CHANNEL_RANGE_MAX); + useRcControlsConfig(NULL); + + // and + rxConfigMutable()->mincheck = 1050; + + // given + rcData[THROTTLE] = 1000; + ENABLE_STATE(SMALL_ANGLE); + + // when + updateActivatedModes(); + updateArmingStatus(); + + // expect + EXPECT_FALSE(isUsingSticksForArming()); + EXPECT_TRUE(isArmingDisabled()); + EXPECT_EQ(ARMING_DISABLED_NOPREARM, getArmingDisableFlags()); + + // given + // prearm is enabled + rcData[5] = 1800; + + // when + updateActivatedModes(); + updateArmingStatus(); + + // expect + // arming enabled as arm switch has been off for sufficient time + EXPECT_EQ(0, getArmingDisableFlags()); + EXPECT_FALSE(isArmingDisabled()); +} + +// STUBS +extern "C" { + uint32_t micros(void) { return simulationTime; } + uint32_t millis(void) { return micros() / 1000; } + bool rxIsReceivingSignal(void) { return false; } + + bool feature(uint32_t) { return false; } + void warningLedFlash(void) {} + void warningLedDisable(void) {} + void warningLedUpdate(void) {} + void beeper(beeperMode_e) {} + void beeperConfirmationBeeps(uint8_t) {} + void beeperWarningBeeps(uint8_t) {} + void beeperSilence(void) {} + void systemBeep(bool) {} + void saveConfigAndNotify(void) {} + void blackboxFinish(void) {} + bool isAccelerationCalibrationComplete(void) { return true; } + bool isBaroCalibrationComplete(void) { return true; } + bool isGyroCalibrationComplete(void) { return true; } + void gyroStartCalibration(bool) {} + bool isFirstArmingGyroCalibrationRunning(void) { return false; } + void pidController(const pidProfile_t *, const rollAndPitchTrims_t *, timeUs_t) {} + void pidStabilisationState(pidStabilisationState_e) {} + void mixTable(uint8_t) {}; + void writeMotors(void) {}; + void writeServos(void) {}; + void calculateRxChannelsAndUpdateFailsafe(timeUs_t) {} + bool isMixerUsingServos(void) { return false; } + void gyroUpdate(void) {} + timeDelta_t getTaskDeltaTime(cfTaskId_e) { return 0; } + void updateRSSI(timeUs_t) {} + bool failsafeIsMonitoring(void) { return false; } + void failsafeStartMonitoring(void) {} + void failsafeUpdateState(void) {} + bool failsafeIsActive(void) { return false; } + void pidResetErrorGyroState(void) {} + void updateAdjustmentStates(void) {} + void processRcAdjustments(controlRateConfig_t *) {} + void updateGpsWaypointsAndMode(void) {} + void releaseSharedTelemetryPorts(void) {} + void telemetryCheckState(void) {} + void mspSerialAllocatePorts(void) {} + void gyroReadTemperature(void) {} + void updateRcCommands(void) {} + void applyAltHold(void) {} + void resetYawAxis(void) {} + int16_t calculateThrottleAngleCorrection(uint8_t) { return 0; } + void processRcCommand(void) {} + void updateGpsStateForHomeAndHoldMode(void) {} + void blackboxUpdate(timeUs_t) {} + void transponderUpdate(timeUs_t) {} + void GPS_reset_home_position(void) {} + void accSetCalibrationCycles(uint16_t) {} + void baroSetCalibrationCycles(uint16_t) {} + void changePidProfile(uint8_t) {} + void dashboardEnablePageCycling(void) {} + void dashboardDisablePageCycling(void) {} +}