/*
*
* 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
#include
extern "C" {
#include "platform.h"
#include "blackbox/blackbox.h"
#include "blackbox/blackbox_encoding.h"
#include "common/utils.h"
#include "pg/pg.h"
#include "pg/pg_ids.h"
#include "drivers/serial.h"
#include "io/serial.h"
}
#include "unittest_macros.h"
#include "gtest/gtest.h"
static serialPort_t *blackboxPort;
static int serialWritePos = 0;
static int serialReadPos = 0;
static int serialReadEnd = 0;
#define SERIAL_BUFFER_SIZE 256
static uint8_t serialReadBuffer[SERIAL_BUFFER_SIZE];
static uint8_t serialWriteBuffer[SERIAL_BUFFER_SIZE];
serialPort_t serialTestInstance;
void serialWrite(serialPort_t *instance, uint8_t ch)
{
EXPECT_EQ(instance, &serialTestInstance);
EXPECT_LT(serialWritePos, sizeof(serialWriteBuffer));
serialWriteBuffer[serialWritePos++] = ch;
}
void serialWriteBuf(serialPort_t *instance, const uint8_t *data, int count)
{
while(count--)
serialWrite(instance, *data++);
}
void serialBeginWrite(serialPort_t *instance)
{
EXPECT_EQ(instance, &serialTestInstance);
}
void serialEndWrite(serialPort_t *instance)
{
EXPECT_EQ(instance, &serialTestInstance);
}
uint32_t serialRxBytesWaiting(const serialPort_t *instance)
{
EXPECT_EQ(instance, &serialTestInstance);
EXPECT_GE(serialReadEnd, serialReadPos);
int ret = serialReadEnd - serialReadPos;
if (ret >= 0) return ret;
return 0;
}
uint8_t serialRead(serialPort_t *instance)
{
EXPECT_EQ(instance, &serialTestInstance);
EXPECT_LT(serialReadPos, serialReadEnd);
const uint8_t ch = serialReadBuffer[serialReadPos++];
return ch;
}
uint32_t serialTxBytesFree(const serialPort_t *instance)
{
UNUSED(instance);
return SERIAL_BUFFER_SIZE - serialWritePos;
}
bool isSerialTransmitBufferEmpty(const serialPort_t *instance)
{
EXPECT_EQ(instance, &serialTestInstance);
return true;
}
void serialTestResetBuffers()
{
blackboxPort = &serialTestInstance;
memset(&serialReadBuffer, 0, sizeof(serialReadBuffer));
serialReadPos = 0;
serialReadEnd = 0;
memset(&serialWriteBuffer, 0, sizeof(serialWriteBuffer));
serialWritePos = 0;
}
TEST(BlackboxEncodingTest, TestWriteUnsignedVB)
{
serialTestResetBuffers();
blackboxWriteUnsignedVB(0);
EXPECT_EQ(0, serialWriteBuffer[0]);
blackboxWriteUnsignedVB(128);
EXPECT_EQ(0x80, serialWriteBuffer[1]);
EXPECT_EQ(1, serialWriteBuffer[2]);
}
TEST(BlackboxTest, TestWriteTag2_3SVariable_BITS2)
{
serialTestResetBuffers();
uint8_t *buf = &serialWriteBuffer[0];
int selector;
int32_t v[3];
// 2 bits per field ss11 2233,
v[0] = 0;
v[1] = 0;
v[2] = 0;
selector = blackboxWriteTag2_3SVariable(v);
EXPECT_EQ(0, selector);
EXPECT_EQ(0, buf[0]);
EXPECT_EQ(0, buf[1]); // ensure next byte has not been written
++buf;
v[0] = 1;
selector = blackboxWriteTag2_3SVariable(v);
EXPECT_EQ(0x10, buf[0]); // 00010000
EXPECT_EQ(0, buf[1]); // ensure next byte has not been written
++buf;
v[0] = 1;
v[1] = 1;
v[2] = 1;
selector = blackboxWriteTag2_3SVariable(v);
EXPECT_EQ(0, selector);
EXPECT_EQ(0x15, buf[0]); // 00010101
EXPECT_EQ(0, buf[1]); // ensure next byte has not been written
++buf;
v[0] = -1;
v[1] = -1;
v[2] = -1;
selector = blackboxWriteTag2_3SVariable(v);
EXPECT_EQ(0, selector);
EXPECT_EQ(0x3F, buf[0]); // 00111111
EXPECT_EQ(0, buf[1]); // ensure next byte has not been written
++buf;
v[0] = -2;
v[1] = -2;
v[2] = -2;
selector = blackboxWriteTag2_3SVariable(v);
EXPECT_EQ(0, selector);
EXPECT_EQ(0x2A, buf[0]); // 00101010
EXPECT_EQ(0, buf[1]); // ensure next byte has not been written
++buf;
}
TEST(BlackboxTest, TestWriteTag2_3SVariable_BITS554)
{
serialTestResetBuffers();
uint8_t *buf = &serialWriteBuffer[0];
int selector;
int32_t v[3];
// 554 bits per field ss11 1112 2222 3333
// 5 bits per field [-16, 15], 4 bits per field [-8, 7]
v[0] = 15;
v[1] = 15;
v[2] = 7;
selector = blackboxWriteTag2_3SVariable(v);
EXPECT_EQ(1, selector);
EXPECT_EQ(0x5E, buf[0]); // 0101 1110
EXPECT_EQ(0xF7, buf[1]); // 1111 0111
EXPECT_EQ(0, buf[2]); // ensure next byte has not been written
buf += 2;
v[0] = -16;
v[1] = -16;
v[2] = -8;
selector = blackboxWriteTag2_3SVariable(v);
EXPECT_EQ(1, selector);
EXPECT_EQ(0x61, buf[0]); // 0110 0001
EXPECT_EQ(0x08, buf[1]); // 0000 1000
EXPECT_EQ(0, buf[2]); // ensure next byte has not been written
buf += 2;
v[0] = 7;
v[1] = 8;
v[2] = 5;
selector = blackboxWriteTag2_3SVariable(v);
EXPECT_EQ(1, selector);
EXPECT_EQ(0x4E, buf[0]); // 0100 1110
EXPECT_EQ(0x85, buf[1]); // 1000 0101
EXPECT_EQ(0, buf[2]); // ensure next byte has not been written
buf += 2;
}
TEST(BlackboxTest, TestWriteTag2_3SVariable_BITS887)
{
serialTestResetBuffers();
uint8_t *buf = &serialWriteBuffer[0];
int selector;
int32_t v[3];
// 877 bits per field ss11 1111 1122 2222 2333 3333
// 8 bits per field [-128, 127], 7 bits per field [-64, 63]
v[0] = 127;
v[1] = 63;
v[2] = 63;
selector = blackboxWriteTag2_3SVariable(v);
EXPECT_EQ(2, selector);
EXPECT_EQ(0x9F, buf[0]); // 1001 1111
EXPECT_EQ(0xDF, buf[1]); // 1101 1111
EXPECT_EQ(0xBF, buf[2]); // 1011 1111
EXPECT_EQ(0, buf[3]); // ensure next byte has not been written
buf += 3;
v[0] = -128;
v[1] = -64;
v[2] = -64;
selector = blackboxWriteTag2_3SVariable(v);
EXPECT_EQ(2, selector);
EXPECT_EQ(0xA0, buf[0]); // 1010 0000
EXPECT_EQ(0x20, buf[1]); // 0010 0000
EXPECT_EQ(0x40, buf[2]); // 0100 0000
EXPECT_EQ(0, buf[3]); // ensure next byte has not been written
buf += 3;
}
// STUBS
extern "C" {
PG_REGISTER(blackboxConfig_t, blackboxConfig, PG_BLACKBOX_CONFIG, 0);
int32_t blackboxHeaderBudget;
void mspSerialAllocatePorts(void) {}
void blackboxWrite(uint8_t value) {serialWrite(blackboxPort, value);}
int blackboxWriteString(const char *s)
{
const uint8_t *pos = (uint8_t*)s;
while (*pos) {
serialWrite(blackboxPort, *pos);
pos++;
}
const int length = pos - (uint8_t*)s;
return length;
}
}