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Correct rx channel min/max pulse checking so that it is inclusive to
match the documentation. Add first unit tests for code in rx.c.
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8 changed files with 219 additions and 8 deletions
162
src/test/unit/rx_rx_unittest.cc
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162
src/test/unit/rx_rx_unittest.cc
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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 "platform.h"
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#include "rx/rx.h"
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void rxInit(rxConfig_t *rxConfig);
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void rxCheckPulse(uint8_t channel, uint16_t pulseDuration);
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}
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#include "unittest_macros.h"
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#include "gtest/gtest.h"
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enum {
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COUNTER_FAILSAFE_ON_VALID_DATA_RECEIVED = 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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typedef struct testData_s {
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bool isPPMDataBeingReceived;
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} testData_t;
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static testData_t testData;
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TEST(RxTest, TestFailsafeInformedOfValidData)
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{
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// given
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resetCallCounters();
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memset(&testData, 0, sizeof(testData));
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// and
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rxConfig_t rxConfig;
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memset(&rxConfig, 0, sizeof(rxConfig));
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rxConfig.rx_min_usec = 1000;
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rxConfig.rx_max_usec = 2000;
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// when
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rxInit(&rxConfig);
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for (uint8_t channelIndex = 0; channelIndex < MAX_SUPPORTED_RC_CHANNEL_COUNT; channelIndex++) {
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rxCheckPulse(channelIndex, 1500);
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}
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// then
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EXPECT_EQ(1, CALL_COUNTER(COUNTER_FAILSAFE_ON_VALID_DATA_RECEIVED));
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}
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TEST(RxTest, TestFailsafeNotInformedOfValidDataWhenStickChannelsAreBad)
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{
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// given
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memset(&testData, 0, sizeof(testData));
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// and
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rxConfig_t rxConfig;
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memset(&rxConfig, 0, sizeof(rxConfig));
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rxConfig.rx_min_usec = 1000;
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rxConfig.rx_max_usec = 2000;
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// and
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uint16_t channelPulses[MAX_SUPPORTED_RC_CHANNEL_COUNT];
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memset(&channelPulses, 1500, sizeof(channelPulses));
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// and
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rxInit(&rxConfig);
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// and
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for (uint8_t stickChannelIndex = 0; stickChannelIndex < STICK_CHANNEL_COUNT; stickChannelIndex++) {
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// given
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resetCallCounters();
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for (uint8_t channelIndex = 0; channelIndex < STICK_CHANNEL_COUNT; channelIndex++) {
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channelPulses[stickChannelIndex] = rxConfig.rx_min_usec;
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}
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channelPulses[stickChannelIndex] = rxConfig.rx_min_usec - 1;
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// when
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for (uint8_t channelIndex = 0; channelIndex < MAX_SUPPORTED_RC_CHANNEL_COUNT; channelIndex++) {
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rxCheckPulse(channelIndex, channelPulses[channelIndex]);
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}
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// then
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EXPECT_EQ(0, CALL_COUNTER(COUNTER_FAILSAFE_ON_VALID_DATA_RECEIVED));
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// given
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resetCallCounters();
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for (uint8_t channelIndex = 0; channelIndex < STICK_CHANNEL_COUNT; channelIndex++) {
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channelPulses[stickChannelIndex] = rxConfig.rx_max_usec;
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}
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channelPulses[stickChannelIndex] = rxConfig.rx_max_usec + 1;
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// when
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for (uint8_t channelIndex = 0; channelIndex < MAX_SUPPORTED_RC_CHANNEL_COUNT; channelIndex++) {
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rxCheckPulse(channelIndex, channelPulses[channelIndex]);
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}
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// then
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EXPECT_EQ(0, CALL_COUNTER(COUNTER_FAILSAFE_ON_VALID_DATA_RECEIVED));
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}
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}
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// STUBS
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extern "C" {
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void failsafeOnRxCycleStarted() {}
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void failsafeOnValidDataReceived() {
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callCounts[COUNTER_FAILSAFE_ON_VALID_DATA_RECEIVED]++;
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}
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bool feature(uint32_t mask) {
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UNUSED(mask);
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return false;
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}
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bool isPPMDataBeingReceived(void) {
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return testData.isPPMDataBeingReceived;
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}
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void resetPPMDataReceivedState(void) {}
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bool rxMspFrameComplete(void) { return false; }
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void rxMspInit(rxConfig_t *, rxRuntimeConfig_t *, rcReadRawDataPtr *) {}
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void rxPwmInit(rxRuntimeConfig_t *, rcReadRawDataPtr *) {}
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}
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