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Merge pull request #2366 from azolyoung/add-unitest-for-rcdevice
add unittest for rcdevice
This commit is contained in:
Konstantin Sharlaimov
GitHub
commit
00af57968e
3 changed files with 952 additions and 1602 deletions
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@ -657,12 +657,19 @@ $(OBJECT_DIR)/sensor_gyro_unittest : \
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$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
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$(OBJECT_DIR)/common/crc.o : \
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$(USER_DIR)/common/crc.c \
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$(USER_DIR)/common/crc.h
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@mkdir -p $(dir $@)
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$(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/common/crc.c -o $@
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$(OBJECT_DIR)/io/rcdevice.o : \
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$(USER_DIR)/io/rcdevice.c \
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$(USER_DIR)/io/rcdevice.h
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@mkdir -p $(dir $@)
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$(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/io/rcdevice.c -o $@
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$(CC) $(C_FLAGS) $(TEST_CFLAGS) -DUSE_RCDEVICE -c $(USER_DIR)/io/rcdevice.c -o $@
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$(OBJECT_DIR)/io/rcdevice_cam.o : \
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$(USER_DIR)/io/rcdevice.c \
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@ -671,7 +678,7 @@ $(OBJECT_DIR)/io/rcdevice_cam.o : \
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$(USER_DIR)/io/rcdevice_cam.h
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@mkdir -p $(dir $@)
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$(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/io/rcdevice_cam.c -o $@
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$(CC) $(C_FLAGS) $(TEST_CFLAGS) -DUSE_RCDEVICE -c $(USER_DIR)/io/rcdevice_cam.c -o $@
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$(OBJECT_DIR)/rcdevice_unittest.o : \
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@ -679,15 +686,15 @@ $(OBJECT_DIR)/rcdevice_unittest.o : \
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$(GTEST_HEADERS)
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@mkdir -p $(dir $@)
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$(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/rcdevice_unittest.cc -o $@
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$(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -DUSE_RCDEVICE -c $(TEST_DIR)/rcdevice_unittest.cc -o $@
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$(OBJECT_DIR)/rcdevice_unittest : \
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$(OBJECT_DIR)/rcdevice_unittest.o \
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$(OBJECT_DIR)/common/bitarray.o \
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$(OBJECT_DIR)/common/crc.o \
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$(OBJECT_DIR)/io/rcdevice.o \
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$(OBJECT_DIR)/io/rcdevice_cam.o \
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$(OBJECT_DIR)/fc/rc_modes.o \
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$(OBJECT_DIR)/fc/rc_controls.o \
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$(OBJECT_DIR)/rx/rx.o \
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$(OBJECT_DIR)/common/maths.o \
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$(OBJECT_DIR)/gtest_main.a
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941
src/test/unit/rcdevice_unittest.cc
Normal file
941
src/test/unit/rcdevice_unittest.cc
Normal file
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@ -0,0 +1,941 @@
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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 "gtest/gtest.h"
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extern "C" {
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#include <stdbool.h>
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#include <stdint.h>
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#include <ctype.h>
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#include "platform.h"
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#include "common/bitarray.h"
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#include "common/maths.h"
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#include "common/utils.h"
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#include "common/streambuf.h"
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#include "config/parameter_group.h"
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#include "config/parameter_group_ids.h"
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#include "fc/rc_controls.h"
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#include "fc/rc_modes.h"
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#include "io/beeper.h"
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#include "io/serial.h"
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#include "scheduler/scheduler.h"
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#include "drivers/serial.h"
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#include "drivers/vcd.h"
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#include "io/rcdevice_cam.h"
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#include "io/osd.h"
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#include "io/rcdevice.h"
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#include "rx/rx.h"
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int16_t rcData[MAX_SUPPORTED_RC_CHANNEL_COUNT]; // interval [1000;2000]
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extern rcdeviceSwitchState_t switchStates[BOXCAMERA3 - BOXCAMERA1 + 1];
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extern runcamDevice_t *camDevice;
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extern bool needRelease;
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bool unitTestIsSwitchActivited(boxId_e boxId)
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{
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uint8_t adjustBoxID = boxId - BOXCAMERA1;
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rcdeviceSwitchState_s switchState = switchStates[adjustBoxID];
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return switchState.isActivated;
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}
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}
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#define MAX_RESPONSES_COUNT 10
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typedef struct testData_s {
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bool isRunCamSplitPortConfigurated;
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bool isRunCamSplitOpenPortSupported;
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int8_t maxTimesOfRespDataAvailable;
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bool isAllowBufferReadWrite;
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uint8_t indexOfCurrentRespBuf;
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uint8_t responseBufCount;
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uint8_t responesBufs[MAX_RESPONSES_COUNT][RCDEVICE_PROTOCOL_MAX_PACKET_SIZE];
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uint8_t responseBufsLen[MAX_RESPONSES_COUNT];
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uint8_t responseDataReadPos;
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uint32_t millis;
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} testData_t;
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static testData_t testData;
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static void clearResponseBuff()
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{
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testData.indexOfCurrentRespBuf = 0;
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testData.responseBufCount = 0;
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memset(testData.responseBufsLen, 0, MAX_RESPONSES_COUNT);
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memset(testData.responesBufs, 0, MAX_RESPONSES_COUNT * 60);
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}
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static void addResponseData(uint8_t *data, uint8_t dataLen, bool withDataForFlushSerial)
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{
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if (withDataForFlushSerial) {
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memcpy(testData.responesBufs[testData.responseBufCount], "0", 1);
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testData.responseBufsLen[testData.responseBufCount] = 1;
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testData.responseBufCount++;
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}
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memcpy(testData.responesBufs[testData.responseBufCount], data, dataLen);
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testData.responseBufsLen[testData.responseBufCount] = dataLen;
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testData.responseBufCount++;
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}
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TEST(RCDeviceTest, TestRCSplitInitWithoutPortConfigurated)
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{
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runcamDevice_t device;
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memset(&testData, 0, sizeof(testData));
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bool result = runcamDeviceInit(&device);
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EXPECT_EQ(false, result);
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}
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TEST(RCDeviceTest, TestRCSplitInitWithoutOpenPortConfigurated)
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{
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runcamDevice_t device;
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memset(&testData, 0, sizeof(testData));
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testData.isRunCamSplitOpenPortSupported = false;
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testData.isRunCamSplitPortConfigurated = true;
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bool result = runcamDeviceInit(&device);
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EXPECT_EQ(false, result);
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}
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TEST(RCDeviceTest, TestInitDevice)
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{
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runcamDevice_t device;
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// test correct response
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memset(&testData, 0, sizeof(testData));
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testData.isRunCamSplitOpenPortSupported = true;
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testData.isRunCamSplitPortConfigurated = true;
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testData.isAllowBufferReadWrite = true;
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uint8_t responseData[] = { 0xCC, 0x01, 0x37, 0x00, 0xBD };
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addResponseData(responseData, sizeof(responseData), true);
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bool result = runcamDeviceInit(&device);
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EXPECT_EQ(result, true);
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}
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TEST(RCDeviceTest, TestInitDeviceWithInvalidResponse)
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{
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runcamDevice_t device;
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// test correct response data with incorrect len
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memset(&testData, 0, sizeof(testData));
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testData.isRunCamSplitOpenPortSupported = true;
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testData.isRunCamSplitPortConfigurated = true;
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testData.isAllowBufferReadWrite = true;
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uint8_t responseData[] = { 0xCC, 0x01, 0x37, 0x00, 0xBD, 0x33 };
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addResponseData(responseData, sizeof(responseData), true);
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bool result = runcamDeviceInit(&device);
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EXPECT_EQ(result, true);
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clearResponseBuff();
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// invalid crc
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uint8_t responseDataWithInvalidCRC[] = { 0xCC, 0x01, 0x37, 0x00, 0xBE };
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addResponseData(responseDataWithInvalidCRC, sizeof(responseDataWithInvalidCRC), true);
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result = runcamDeviceInit(&device);
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EXPECT_EQ(result, false);
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clearResponseBuff();
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// incomplete response data
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uint8_t incompleteResponseData[] = { 0xCC, 0x01, 0x37 };
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addResponseData(incompleteResponseData, sizeof(incompleteResponseData), true);
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result = runcamDeviceInit(&device);
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EXPECT_EQ(result, false);
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clearResponseBuff();
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// test timeout
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memset(&testData, 0, sizeof(testData));
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testData.isRunCamSplitOpenPortSupported = true;
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testData.isRunCamSplitPortConfigurated = true;
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testData.isAllowBufferReadWrite = true;
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result = runcamDeviceInit(&device);
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EXPECT_EQ(result, false);
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clearResponseBuff();
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}
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TEST(RCDeviceTest, TestWifiModeChangeWithDeviceUnready)
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{
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// test correct response
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memset(&testData, 0, sizeof(testData));
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testData.isRunCamSplitOpenPortSupported = true;
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testData.isRunCamSplitPortConfigurated = true;
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testData.isAllowBufferReadWrite = true;
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testData.maxTimesOfRespDataAvailable = 0;
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uint8_t responseData[] = { 0xCC, 0x01, 0x37, 0x00, 0xBC };
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addResponseData(responseData, sizeof(responseData), true);
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bool result = rcdeviceInit();
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EXPECT_EQ(result, false);
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// bind aux1, aux2, aux3 channel to wifi button, power button and change mode
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for (uint8_t i = 0; i <= (BOXCAMERA3 - BOXCAMERA1); i++) {
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memset(modeActivationConditionsMutable(i), 0, sizeof(modeActivationCondition_t));
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}
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// bind aux1 to wifi button with range [900,1600]
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modeActivationConditionsMutable(0)->auxChannelIndex = 0;
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modeActivationConditionsMutable(0)->modeId = BOXCAMERA1;
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modeActivationConditionsMutable(0)->range.startStep = CHANNEL_VALUE_TO_STEP(CHANNEL_RANGE_MIN);
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modeActivationConditionsMutable(0)->range.endStep = CHANNEL_VALUE_TO_STEP(1600);
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// bind aux2 to power button with range [1900, 2100]
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modeActivationConditionsMutable(1)->auxChannelIndex = 1;
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modeActivationConditionsMutable(1)->modeId = BOXCAMERA2;
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modeActivationConditionsMutable(1)->range.startStep = CHANNEL_VALUE_TO_STEP(1900);
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modeActivationConditionsMutable(1)->range.endStep = CHANNEL_VALUE_TO_STEP(2100);
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// bind aux3 to change mode with range [1300, 1600]
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modeActivationConditionsMutable(2)->auxChannelIndex = 2;
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modeActivationConditionsMutable(2)->modeId = BOXCAMERA3;
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modeActivationConditionsMutable(2)->range.startStep = CHANNEL_VALUE_TO_STEP(1300);
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modeActivationConditionsMutable(2)->range.endStep = CHANNEL_VALUE_TO_STEP(1600);
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// make the binded mode inactive
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rcData[modeActivationConditions(0)->auxChannelIndex + NON_AUX_CHANNEL_COUNT] = 1800;
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rcData[modeActivationConditions(1)->auxChannelIndex + NON_AUX_CHANNEL_COUNT] = 900;
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rcData[modeActivationConditions(2)->auxChannelIndex + NON_AUX_CHANNEL_COUNT] = 900;
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updateActivatedModes();
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// runn process loop
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rcdeviceUpdate(0);
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EXPECT_EQ(false, unitTestIsSwitchActivited(BOXCAMERA1));
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EXPECT_EQ(false, unitTestIsSwitchActivited(BOXCAMERA2));
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EXPECT_EQ(false, unitTestIsSwitchActivited(BOXCAMERA3));
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}
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TEST(RCDeviceTest, TestWifiModeChangeWithDeviceReady)
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{
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// test correct response
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memset(&testData, 0, sizeof(testData));
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testData.isRunCamSplitOpenPortSupported = true;
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testData.isRunCamSplitPortConfigurated = true;
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testData.isAllowBufferReadWrite = true;
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testData.maxTimesOfRespDataAvailable = 0;
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uint8_t responseData[] = { 0xCC, 0x01, 0x37, 0x00, 0xBD };
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addResponseData(responseData, sizeof(responseData), true);
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bool result = rcdeviceInit();
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EXPECT_EQ(result, true);
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// bind aux1, aux2, aux3 channel to wifi button, power button and change mode
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for (uint8_t i = 0; i <= BOXCAMERA3 - BOXCAMERA1; i++) {
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memset(modeActivationConditionsMutable(i), 0, sizeof(modeActivationCondition_t));
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}
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// bind aux1 to wifi button with range [900,1600]
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modeActivationConditionsMutable(0)->auxChannelIndex = 0;
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modeActivationConditionsMutable(0)->modeId = BOXCAMERA1;
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modeActivationConditionsMutable(0)->range.startStep = CHANNEL_VALUE_TO_STEP(CHANNEL_RANGE_MIN);
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modeActivationConditionsMutable(0)->range.endStep = CHANNEL_VALUE_TO_STEP(1600);
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// bind aux2 to power button with range [1900, 2100]
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modeActivationConditionsMutable(1)->auxChannelIndex = 1;
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modeActivationConditionsMutable(1)->modeId = BOXCAMERA2;
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modeActivationConditionsMutable(1)->range.startStep = CHANNEL_VALUE_TO_STEP(1900);
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modeActivationConditionsMutable(1)->range.endStep = CHANNEL_VALUE_TO_STEP(2100);
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// bind aux3 to change mode with range [1300, 1600]
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modeActivationConditionsMutable(2)->auxChannelIndex = 2;
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modeActivationConditionsMutable(2)->modeId = BOXCAMERA3;
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modeActivationConditionsMutable(2)->range.startStep = CHANNEL_VALUE_TO_STEP(1900);
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modeActivationConditionsMutable(2)->range.endStep = CHANNEL_VALUE_TO_STEP(2100);
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rcData[modeActivationConditions(0)->auxChannelIndex + NON_AUX_CHANNEL_COUNT] = 1700;
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rcData[modeActivationConditions(1)->auxChannelIndex + NON_AUX_CHANNEL_COUNT] = 2000;
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rcData[modeActivationConditions(2)->auxChannelIndex + NON_AUX_CHANNEL_COUNT] = 1700;
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updateUsedModeActivationConditionFlags();
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updateActivatedModes();
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// runn process loop
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int8_t randNum = rand() % 127 + 6;
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testData.maxTimesOfRespDataAvailable = randNum;
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rcdeviceUpdate((timeUs_t)0);
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EXPECT_EQ(false, unitTestIsSwitchActivited(BOXCAMERA1));
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EXPECT_EQ(true, unitTestIsSwitchActivited(BOXCAMERA2));
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EXPECT_EQ(false, unitTestIsSwitchActivited(BOXCAMERA3));
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}
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TEST(RCDeviceTest, TestWifiModeChangeCombine)
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{
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memset(&testData, 0, sizeof(testData));
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testData.isRunCamSplitOpenPortSupported = true;
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testData.isRunCamSplitPortConfigurated = true;
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testData.isAllowBufferReadWrite = true;
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testData.maxTimesOfRespDataAvailable = 0;
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uint8_t responseData[] = { 0xCC, 0x01, 0x37, 0x00, 0xBD };
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addResponseData(responseData, sizeof(responseData), true);
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bool result = rcdeviceInit();
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EXPECT_EQ(true, result);
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// bind aux1, aux2, aux3 channel to wifi button, power button and change mode
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for (uint8_t i = 0; i <= BOXCAMERA3 - BOXCAMERA1; i++) {
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memset(modeActivationConditionsMutable(i), 0, sizeof(modeActivationCondition_t));
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}
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// bind aux1 to wifi button with range [900,1600]
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modeActivationConditionsMutable(0)->auxChannelIndex = 0;
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modeActivationConditionsMutable(0)->modeId = BOXCAMERA1;
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modeActivationConditionsMutable(0)->range.startStep = CHANNEL_VALUE_TO_STEP(CHANNEL_RANGE_MIN);
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modeActivationConditionsMutable(0)->range.endStep = CHANNEL_VALUE_TO_STEP(1600);
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// bind aux2 to power button with range [1900, 2100]
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modeActivationConditionsMutable(1)->auxChannelIndex = 1;
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modeActivationConditionsMutable(1)->modeId = BOXCAMERA2;
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modeActivationConditionsMutable(1)->range.startStep = CHANNEL_VALUE_TO_STEP(1900);
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modeActivationConditionsMutable(1)->range.endStep = CHANNEL_VALUE_TO_STEP(2100);
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// bind aux3 to change mode with range [1300, 1600]
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modeActivationConditionsMutable(2)->auxChannelIndex = 2;
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modeActivationConditionsMutable(2)->modeId = BOXCAMERA3;
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modeActivationConditionsMutable(2)->range.startStep = CHANNEL_VALUE_TO_STEP(1900);
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modeActivationConditionsMutable(2)->range.endStep = CHANNEL_VALUE_TO_STEP(2100);
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// // make the binded mode inactive
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rcData[modeActivationConditions(0)->auxChannelIndex + NON_AUX_CHANNEL_COUNT] = 1700;
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rcData[modeActivationConditions(1)->auxChannelIndex + NON_AUX_CHANNEL_COUNT] = 2000;
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rcData[modeActivationConditions(2)->auxChannelIndex + NON_AUX_CHANNEL_COUNT] = 1700;
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updateActivatedModes();
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// runn process loop
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int8_t randNum = rand() % 127 + 6;
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testData.maxTimesOfRespDataAvailable = randNum;
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rcdeviceUpdate((timeUs_t)0);
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EXPECT_EQ(false, unitTestIsSwitchActivited(BOXCAMERA1));
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EXPECT_EQ(true, unitTestIsSwitchActivited(BOXCAMERA2));
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EXPECT_EQ(false, unitTestIsSwitchActivited(BOXCAMERA3));
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// // make the binded mode inactive
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rcData[modeActivationConditions(0)->auxChannelIndex + NON_AUX_CHANNEL_COUNT] = 1500;
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rcData[modeActivationConditions(1)->auxChannelIndex + NON_AUX_CHANNEL_COUNT] = 1300;
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rcData[modeActivationConditions(2)->auxChannelIndex + NON_AUX_CHANNEL_COUNT] = 1900;
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updateActivatedModes();
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rcdeviceUpdate((timeUs_t)0);
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EXPECT_EQ(true, unitTestIsSwitchActivited(BOXCAMERA1));
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EXPECT_EQ(false, unitTestIsSwitchActivited(BOXCAMERA2));
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EXPECT_EQ(true, unitTestIsSwitchActivited(BOXCAMERA3));
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rcData[modeActivationConditions(2)->auxChannelIndex + NON_AUX_CHANNEL_COUNT] = 1899;
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updateActivatedModes();
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rcdeviceUpdate((timeUs_t)0);
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EXPECT_EQ(false, unitTestIsSwitchActivited(BOXCAMERA3));
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||||
rcData[modeActivationConditions(1)->auxChannelIndex + NON_AUX_CHANNEL_COUNT] = 2001;
|
||||
updateActivatedModes();
|
||||
rcdeviceUpdate((timeUs_t)0);
|
||||
EXPECT_EQ(true, unitTestIsSwitchActivited(BOXCAMERA1));
|
||||
EXPECT_EQ(true, unitTestIsSwitchActivited(BOXCAMERA2));
|
||||
EXPECT_EQ(false, unitTestIsSwitchActivited(BOXCAMERA3));
|
||||
}
|
||||
|
||||
TEST(RCDeviceTest, Test5KeyOSDCableSimulationProtocol)
|
||||
{
|
||||
memset(&testData, 0, sizeof(testData));
|
||||
testData.isRunCamSplitOpenPortSupported = true;
|
||||
testData.isRunCamSplitPortConfigurated = true;
|
||||
testData.isAllowBufferReadWrite = true;
|
||||
testData.maxTimesOfRespDataAvailable = 0;
|
||||
uint8_t responseData[] = { 0xCC, 0x01, 0x37, 0x00, 0xBD };
|
||||
addResponseData(responseData, sizeof(responseData), true);
|
||||
bool result = rcdeviceInit();
|
||||
EXPECT_EQ(true, result);
|
||||
|
||||
// test timeout of open connection
|
||||
result = runcamDeviceOpen5KeyOSDCableConnection(camDevice);
|
||||
EXPECT_EQ(false, result);
|
||||
clearResponseBuff();
|
||||
|
||||
// open connection with correct response
|
||||
uint8_t responseDataOfOpenConnection[] = { 0xCC, 0x11, 0xe7 };
|
||||
addResponseData(responseDataOfOpenConnection, sizeof(responseDataOfOpenConnection), true);
|
||||
result = runcamDeviceOpen5KeyOSDCableConnection(camDevice);
|
||||
EXPECT_EQ(true, result);
|
||||
clearResponseBuff();
|
||||
|
||||
// open connection with correct response but wrong data length
|
||||
uint8_t incorrectResponseDataOfOpenConnection1[] = { 0xCC, 0x11, 0xe7, 0x55 };
|
||||
addResponseData(incorrectResponseDataOfOpenConnection1, sizeof(incorrectResponseDataOfOpenConnection1), true);
|
||||
result = runcamDeviceOpen5KeyOSDCableConnection(camDevice);
|
||||
EXPECT_EQ(true, result);
|
||||
clearResponseBuff();
|
||||
|
||||
// open connection with invalid crc
|
||||
uint8_t incorrectResponseDataOfOpenConnection2[] = { 0xCC, 0x10, 0x42 };
|
||||
addResponseData(incorrectResponseDataOfOpenConnection2, sizeof(incorrectResponseDataOfOpenConnection2), true);
|
||||
result = runcamDeviceOpen5KeyOSDCableConnection(camDevice);
|
||||
EXPECT_EQ(false, result);
|
||||
clearResponseBuff();
|
||||
|
||||
// test timeout of close connection
|
||||
runcamDeviceClose5KeyOSDCableConnection(camDevice);
|
||||
EXPECT_EQ(false, result);
|
||||
clearResponseBuff();
|
||||
|
||||
// close connection with correct response
|
||||
uint8_t responseDataOfCloseConnection[] = { 0xCC, 0x21, 0x11 };
|
||||
addResponseData(responseDataOfCloseConnection, sizeof(responseDataOfCloseConnection), true);
|
||||
result = runcamDeviceClose5KeyOSDCableConnection(camDevice);
|
||||
EXPECT_EQ(true, result);
|
||||
clearResponseBuff();
|
||||
|
||||
// close connection with correct response but wrong data length
|
||||
uint8_t responseDataOfCloseConnection1[] = { 0xCC, 0x21, 0x11, 0xC1 };
|
||||
addResponseData(responseDataOfCloseConnection1, sizeof(responseDataOfCloseConnection1), true);
|
||||
result = runcamDeviceClose5KeyOSDCableConnection(camDevice);
|
||||
EXPECT_EQ(true, result);
|
||||
clearResponseBuff();
|
||||
|
||||
// close connection with response that invalid crc
|
||||
uint8_t responseDataOfCloseConnection2[] = { 0xCC, 0x21, 0xA1 };
|
||||
addResponseData(responseDataOfCloseConnection2, sizeof(responseDataOfCloseConnection2), true);
|
||||
result = runcamDeviceClose5KeyOSDCableConnection(camDevice);
|
||||
EXPECT_EQ(false, result);
|
||||
clearResponseBuff();
|
||||
|
||||
// simulate press button with no response
|
||||
result = runcamDeviceSimulate5KeyOSDCableButtonPress(camDevice, RCDEVICE_PROTOCOL_5KEY_SIMULATION_SET);
|
||||
EXPECT_EQ(false, result);
|
||||
clearResponseBuff();
|
||||
|
||||
// simulate press button with correct response
|
||||
uint8_t responseDataOfSimulation1[] = { 0xCC, 0xA5 };
|
||||
addResponseData(responseDataOfSimulation1, sizeof(responseDataOfSimulation1), true);
|
||||
result = runcamDeviceSimulate5KeyOSDCableButtonPress(camDevice, RCDEVICE_PROTOCOL_5KEY_SIMULATION_SET);
|
||||
EXPECT_EQ(true, result);
|
||||
clearResponseBuff();
|
||||
|
||||
// simulate press button with correct response but wrong data length
|
||||
uint8_t responseDataOfSimulation2[] = { 0xCC, 0xA5, 0x22 };
|
||||
addResponseData(responseDataOfSimulation2, sizeof(responseDataOfSimulation2), true);
|
||||
result = runcamDeviceSimulate5KeyOSDCableButtonPress(camDevice, RCDEVICE_PROTOCOL_5KEY_SIMULATION_SET);
|
||||
EXPECT_EQ(true, result);
|
||||
clearResponseBuff();
|
||||
|
||||
// simulate press button event with incorrect response
|
||||
uint8_t responseDataOfSimulation3[] = { 0xCC, 0xB5, 0x22 };
|
||||
addResponseData(responseDataOfSimulation3, sizeof(responseDataOfSimulation3), true);
|
||||
result = runcamDeviceSimulate5KeyOSDCableButtonPress(camDevice, RCDEVICE_PROTOCOL_5KEY_SIMULATION_SET);
|
||||
EXPECT_EQ(false, result);
|
||||
clearResponseBuff();
|
||||
|
||||
// simulate release button event
|
||||
result = runcamDeviceSimulate5KeyOSDCableButtonRelease(camDevice);
|
||||
EXPECT_EQ(false, result);
|
||||
clearResponseBuff();
|
||||
|
||||
// simulate release button with correct response
|
||||
uint8_t responseDataOfSimulation4[] = { 0xCC, 0xA5 };
|
||||
addResponseData(responseDataOfSimulation4, sizeof(responseDataOfSimulation4), true);
|
||||
result = runcamDeviceSimulate5KeyOSDCableButtonRelease(camDevice);
|
||||
EXPECT_EQ(true, result);
|
||||
clearResponseBuff();
|
||||
|
||||
// simulate release button with correct response but wrong data length
|
||||
uint8_t responseDataOfSimulation5[] = { 0xCC, 0xA5, 0xFF };
|
||||
addResponseData(responseDataOfSimulation5, sizeof(responseDataOfSimulation5), true);
|
||||
result = runcamDeviceSimulate5KeyOSDCableButtonRelease(camDevice);
|
||||
EXPECT_EQ(true, result);
|
||||
clearResponseBuff();
|
||||
|
||||
// simulate release button with incorrect response
|
||||
uint8_t responseDataOfSimulation6[] = { 0xCC, 0x31, 0xFF };
|
||||
addResponseData(responseDataOfSimulation6, sizeof(responseDataOfSimulation6), true);
|
||||
result = runcamDeviceSimulate5KeyOSDCableButtonRelease(camDevice);
|
||||
EXPECT_EQ(false, result);
|
||||
clearResponseBuff();
|
||||
}
|
||||
|
||||
TEST(RCDeviceTest, Test5KeyOSDCableSimulationWithout5KeyFeatureSupport)
|
||||
{
|
||||
// test simulation without device init
|
||||
rcData[THROTTLE] = 1500; // THROTTLE Mid
|
||||
rcData[ROLL] = 1500; // ROLL Mid
|
||||
rcData[PITCH] = 1500; // PITCH Mid
|
||||
rcData[YAW] = 1900; // Yaw High
|
||||
rcdeviceUpdate(0);
|
||||
EXPECT_EQ(false, rcdeviceInMenu);
|
||||
|
||||
// init device that have not 5 key OSD cable simulation feature
|
||||
memset(&testData, 0, sizeof(testData));
|
||||
testData.isRunCamSplitOpenPortSupported = true;
|
||||
testData.isRunCamSplitPortConfigurated = true;
|
||||
testData.isAllowBufferReadWrite = true;
|
||||
testData.maxTimesOfRespDataAvailable = 0;
|
||||
uint8_t responseData[] = { 0xCC, 0x01, 0x37, 0x00, 0xBD };
|
||||
addResponseData(responseData, sizeof(responseData), true);
|
||||
bool result = rcdeviceInit();
|
||||
EXPECT_EQ(result, true);
|
||||
clearResponseBuff();
|
||||
|
||||
// open connection, rcdeviceInMenu will be false if the codes is right
|
||||
uint8_t responseDataOfOpenConnection[] = { 0xCC, 0x11, 0xe7 };
|
||||
addResponseData(responseDataOfOpenConnection, sizeof(responseDataOfOpenConnection), false);
|
||||
rcdeviceUpdate(0);
|
||||
EXPECT_EQ(false, rcdeviceInMenu);
|
||||
clearResponseBuff();
|
||||
}
|
||||
|
||||
TEST(RCDeviceTest, Test5KeyOSDCableSimulationWith5KeyFeatureSupport)
|
||||
{
|
||||
// test simulation without device init
|
||||
rcData[THROTTLE] = 1500; // THROTTLE Mid
|
||||
rcData[ROLL] = 1500; // ROLL Mid
|
||||
rcData[PITCH] = 1500; // PITCH Mid
|
||||
rcData[YAW] = 1900; // Yaw High
|
||||
rcdeviceUpdate(0);
|
||||
EXPECT_EQ(false, rcdeviceInMenu);
|
||||
|
||||
// init device that have not 5 key OSD cable simulation feature
|
||||
memset(&testData, 0, sizeof(testData));
|
||||
testData.isRunCamSplitOpenPortSupported = true;
|
||||
testData.isRunCamSplitPortConfigurated = true;
|
||||
testData.isAllowBufferReadWrite = true;
|
||||
testData.maxTimesOfRespDataAvailable = 0;
|
||||
uint8_t responseData[] = { 0xCC, 0x01, 0x3F, 0x00, 0xE5 };
|
||||
addResponseData(responseData, sizeof(responseData), true);
|
||||
bool result = rcdeviceInit();
|
||||
EXPECT_EQ(result, true);
|
||||
clearResponseBuff();
|
||||
|
||||
// open connection
|
||||
uint8_t responseDataOfOpenConnection[] = { 0xCC, 0x11, 0xe7 };
|
||||
addResponseData(responseDataOfOpenConnection, sizeof(responseDataOfOpenConnection), true);
|
||||
rcdeviceUpdate(0);
|
||||
EXPECT_EQ(true, rcdeviceInMenu);
|
||||
EXPECT_EQ(true, needRelease);
|
||||
clearResponseBuff();
|
||||
// relase button
|
||||
rcData[ROLL] = 1500; // ROLL Mid
|
||||
rcData[PITCH] = 1500; // PITCH Mid
|
||||
rcData[YAW] = 1500; // Yaw High
|
||||
uint8_t responseDataOfReleaseButton[] = { 0xCC, 0xA5 };
|
||||
addResponseData(responseDataOfReleaseButton, sizeof(responseDataOfReleaseButton), true);
|
||||
rcdeviceUpdate(0);
|
||||
EXPECT_EQ(false, needRelease);
|
||||
clearResponseBuff();
|
||||
|
||||
// close connection
|
||||
rcData[THROTTLE] = 1500; // THROTTLE Mid
|
||||
rcData[ROLL] = 1500; // ROLL Mid
|
||||
rcData[PITCH] = 1500; // PITCH Mid
|
||||
rcData[YAW] = 900; // Yaw High
|
||||
uint8_t responseDataOfCloseConnection[] = { 0xCC, 0x21, 0x11 };
|
||||
addResponseData(responseDataOfCloseConnection, sizeof(responseDataOfCloseConnection), true);
|
||||
rcdeviceUpdate(0);
|
||||
EXPECT_EQ(false, rcdeviceInMenu);
|
||||
EXPECT_EQ(true, needRelease);
|
||||
clearResponseBuff();
|
||||
// relase button
|
||||
rcData[ROLL] = 1500; // ROLL Mid
|
||||
rcData[PITCH] = 1500; // PITCH Mid
|
||||
rcData[YAW] = 1500; // Yaw High
|
||||
addResponseData(responseDataOfReleaseButton, sizeof(responseDataOfReleaseButton), true);
|
||||
rcdeviceUpdate(0);
|
||||
EXPECT_EQ(false, needRelease);
|
||||
clearResponseBuff();
|
||||
|
||||
// open osd menu again
|
||||
rcData[THROTTLE] = 1500; // THROTTLE Mid
|
||||
rcData[ROLL] = 1500; // ROLL Mid
|
||||
rcData[PITCH] = 1500; // PITCH Mid
|
||||
rcData[YAW] = 1900; // Yaw High
|
||||
addResponseData(responseDataOfOpenConnection, sizeof(responseDataOfOpenConnection), true);
|
||||
rcdeviceUpdate(0);
|
||||
EXPECT_EQ(true, rcdeviceInMenu);
|
||||
EXPECT_EQ(true, needRelease);
|
||||
clearResponseBuff();
|
||||
// relase button
|
||||
rcData[ROLL] = 1500; // ROLL Mid
|
||||
rcData[PITCH] = 1500; // PITCH Mid
|
||||
rcData[YAW] = 1500; // Yaw High
|
||||
addResponseData(responseDataOfReleaseButton, sizeof(responseDataOfReleaseButton), true);
|
||||
rcdeviceUpdate(0);
|
||||
EXPECT_EQ(false, needRelease);
|
||||
clearResponseBuff();
|
||||
|
||||
// send down button event
|
||||
rcData[PITCH] = 900;
|
||||
addResponseData(responseDataOfReleaseButton, sizeof(responseDataOfReleaseButton), true);
|
||||
rcdeviceUpdate(0);
|
||||
EXPECT_EQ(true, needRelease);
|
||||
clearResponseBuff();
|
||||
// relase button
|
||||
rcData[ROLL] = 1500; // ROLL Mid
|
||||
rcData[PITCH] = 1500; // PITCH Mid
|
||||
rcData[YAW] = 1500; // Yaw High
|
||||
addResponseData(responseDataOfReleaseButton, sizeof(responseDataOfReleaseButton), true);
|
||||
rcdeviceUpdate(0);
|
||||
EXPECT_EQ(false, needRelease);
|
||||
rcData[PITCH] = 1500; // rest down button
|
||||
clearResponseBuff();
|
||||
|
||||
// simulate right button long press
|
||||
rcData[ROLL] = 1900;
|
||||
addResponseData(responseDataOfReleaseButton, sizeof(responseDataOfReleaseButton), true);
|
||||
rcdeviceUpdate(0);
|
||||
EXPECT_EQ(true, needRelease);
|
||||
rcdeviceUpdate(0);
|
||||
EXPECT_EQ(true, needRelease);
|
||||
rcdeviceUpdate(0);
|
||||
EXPECT_EQ(true, needRelease);
|
||||
clearResponseBuff();
|
||||
// send relase button event
|
||||
rcData[ROLL] = 1500; // ROLL Mid
|
||||
rcData[PITCH] = 1500; // PITCH Mid
|
||||
rcData[YAW] = 1500; // Yaw High
|
||||
addResponseData(responseDataOfReleaseButton, sizeof(responseDataOfReleaseButton), true);
|
||||
rcdeviceUpdate(0);
|
||||
EXPECT_EQ(false, needRelease);
|
||||
rcData[ROLL] = 1500; // reset right button
|
||||
clearResponseBuff();
|
||||
|
||||
// simulate right button and get failed response, then FC should release the controller of joysticks
|
||||
rcData[ROLL] = 1900;
|
||||
addResponseData(responseDataOfReleaseButton, sizeof(responseDataOfReleaseButton), true);
|
||||
rcdeviceUpdate(0);
|
||||
EXPECT_EQ(true, needRelease);
|
||||
clearResponseBuff();
|
||||
// send relase button with empty response, so the release will failed
|
||||
rcData[ROLL] = 1500; // ROLL Mid
|
||||
rcData[PITCH] = 1500; // PITCH Mid
|
||||
rcData[YAW] = 1500; // Yaw High
|
||||
rcdeviceUpdate(0);
|
||||
EXPECT_EQ(true, needRelease);
|
||||
EXPECT_EQ(false, rcdeviceInMenu); // if failed on release button event, then FC side need release the controller of joysticks
|
||||
rcData[ROLL] = 1500; // rest right button
|
||||
// send again release button with correct response
|
||||
rcData[ROLL] = 1500; // ROLL Mid
|
||||
rcData[PITCH] = 1500; // PITCH Mid
|
||||
rcData[YAW] = 1500; // Yaw High
|
||||
clearResponseBuff();
|
||||
addResponseData(responseDataOfReleaseButton, sizeof(responseDataOfReleaseButton), true);
|
||||
rcdeviceUpdate(0);
|
||||
EXPECT_EQ(false, needRelease);
|
||||
EXPECT_EQ(false, rcdeviceInMenu);
|
||||
clearResponseBuff();
|
||||
|
||||
// open OSD menu again
|
||||
rcData[THROTTLE] = 1500; // THROTTLE Mid
|
||||
rcData[ROLL] = 1500; // ROLL Mid
|
||||
rcData[PITCH] = 1500; // PITCH Mid
|
||||
rcData[YAW] = 1900; // Yaw High
|
||||
clearResponseBuff();
|
||||
addResponseData(responseDataOfOpenConnection, sizeof(responseDataOfOpenConnection), true);
|
||||
rcdeviceUpdate(0);
|
||||
EXPECT_EQ(true, rcdeviceInMenu);
|
||||
EXPECT_EQ(true, needRelease);
|
||||
clearResponseBuff();
|
||||
|
||||
// relase button
|
||||
rcData[ROLL] = 1500; // ROLL Mid
|
||||
rcData[PITCH] = 1500; // PITCH Mid
|
||||
rcData[YAW] = 1500; // Yaw High
|
||||
addResponseData(responseDataOfReleaseButton, sizeof(responseDataOfReleaseButton), true);
|
||||
rcdeviceUpdate(0);
|
||||
EXPECT_EQ(false, needRelease);
|
||||
clearResponseBuff();
|
||||
|
||||
// send left event
|
||||
rcData[ROLL] = 900;
|
||||
addResponseData(responseDataOfReleaseButton, sizeof(responseDataOfReleaseButton), true);
|
||||
rcdeviceUpdate(0);
|
||||
EXPECT_EQ(true, needRelease);
|
||||
clearResponseBuff();
|
||||
// send relase button
|
||||
rcData[ROLL] = 1500; // ROLL Mid
|
||||
rcData[PITCH] = 1500; // PITCH Mid
|
||||
rcData[YAW] = 1500; // Yaw High
|
||||
addResponseData(responseDataOfReleaseButton, sizeof(responseDataOfReleaseButton), true);
|
||||
rcdeviceUpdate(0);
|
||||
EXPECT_EQ(false, needRelease);
|
||||
EXPECT_EQ(true, rcdeviceInMenu);
|
||||
clearResponseBuff();
|
||||
rcData[ROLL] = 1500; // rest right button
|
||||
|
||||
// close connection
|
||||
rcData[THROTTLE] = 1500; // THROTTLE Mid
|
||||
rcData[ROLL] = 1500; // ROLL Mid
|
||||
rcData[PITCH] = 1500; // PITCH Mid
|
||||
rcData[YAW] = 900; // Yaw High
|
||||
addResponseData(responseDataOfCloseConnection, sizeof(responseDataOfCloseConnection), true);
|
||||
rcdeviceUpdate(0);
|
||||
EXPECT_EQ(false, rcdeviceInMenu);
|
||||
EXPECT_EQ(true, needRelease);
|
||||
clearResponseBuff();
|
||||
// relase button
|
||||
rcData[ROLL] = 1500; // ROLL Mid
|
||||
rcData[PITCH] = 1500; // PITCH Mid
|
||||
rcData[YAW] = 1500; // Yaw High
|
||||
addResponseData(responseDataOfReleaseButton, sizeof(responseDataOfReleaseButton), true);
|
||||
rcdeviceUpdate(0);
|
||||
EXPECT_EQ(false, needRelease);
|
||||
clearResponseBuff();
|
||||
}
|
||||
|
||||
extern "C" {
|
||||
serialPort_t *openSerialPort(serialPortIdentifier_e identifier, serialPortFunction_e functionMask, serialReceiveCallbackPtr callback, uint32_t baudRate, portMode_t mode, portOptions_t options)
|
||||
{
|
||||
UNUSED(identifier);
|
||||
UNUSED(functionMask);
|
||||
UNUSED(baudRate);
|
||||
UNUSED(callback);
|
||||
UNUSED(mode);
|
||||
UNUSED(options);
|
||||
|
||||
if (testData.isRunCamSplitOpenPortSupported) {
|
||||
static serialPort_t s;
|
||||
s.vTable = NULL;
|
||||
|
||||
// common serial initialisation code should move to serialPort::init()
|
||||
s.rxBufferHead = s.rxBufferTail = 0;
|
||||
s.txBufferHead = s.txBufferTail = 0;
|
||||
s.rxBufferSize = 0;
|
||||
s.txBufferSize = 0;
|
||||
s.rxBuffer = s.rxBuffer;
|
||||
s.txBuffer = s.txBuffer;
|
||||
|
||||
// callback works for IRQ-based RX ONLY
|
||||
s.rxCallback = NULL;
|
||||
s.baudRate = 0;
|
||||
|
||||
return (serialPort_t *)&s;
|
||||
}
|
||||
|
||||
return NULL;
|
||||
}
|
||||
|
||||
serialPortConfig_t *findSerialPortConfig(serialPortFunction_e function)
|
||||
{
|
||||
UNUSED(function);
|
||||
if (testData.isRunCamSplitPortConfigurated) {
|
||||
static serialPortConfig_t portConfig;
|
||||
|
||||
portConfig.identifier = SERIAL_PORT_USART3;
|
||||
portConfig.msp_baudrateIndex = BAUD_115200;
|
||||
portConfig.gps_baudrateIndex = BAUD_57600;
|
||||
portConfig.telemetry_baudrateIndex = BAUD_AUTO;
|
||||
portConfig.functionMask = FUNCTION_MSP;
|
||||
|
||||
return &portConfig;
|
||||
}
|
||||
|
||||
return NULL;
|
||||
}
|
||||
|
||||
uint32_t serialRxBytesWaiting(const serialPort_t *instance)
|
||||
{
|
||||
UNUSED(instance);
|
||||
|
||||
uint8_t bufIndex = testData.indexOfCurrentRespBuf;
|
||||
uint8_t leftDataLen = 0;
|
||||
if (testData.responseDataReadPos >= testData.responseBufsLen[bufIndex]) {
|
||||
return 0;
|
||||
} else {
|
||||
leftDataLen = testData.responseBufsLen[bufIndex] - testData.responseDataReadPos;
|
||||
}
|
||||
|
||||
if (leftDataLen) {
|
||||
return leftDataLen;
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
uint8_t serialRead(serialPort_t *instance)
|
||||
{
|
||||
UNUSED(instance);
|
||||
|
||||
uint8_t bufIndex = testData.indexOfCurrentRespBuf;
|
||||
uint8_t *buffer = NULL;
|
||||
uint8_t leftDataLen = 0;
|
||||
if (testData.responseDataReadPos >= testData.responseBufsLen[bufIndex]) {
|
||||
leftDataLen = 0;
|
||||
} else {
|
||||
buffer = testData.responesBufs[bufIndex];
|
||||
leftDataLen = testData.responseBufsLen[bufIndex] - testData.responseDataReadPos;
|
||||
}
|
||||
|
||||
if (leftDataLen) {
|
||||
return buffer[testData.responseDataReadPos++];
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
void sbufWriteString(sbuf_t *dst, const char *string)
|
||||
{
|
||||
UNUSED(dst); UNUSED(string);
|
||||
|
||||
if (testData.isAllowBufferReadWrite) {
|
||||
sbufWriteData(dst, string, strlen(string));
|
||||
}
|
||||
}
|
||||
void sbufWriteU8(sbuf_t *dst, uint8_t val)
|
||||
{
|
||||
UNUSED(dst); UNUSED(val);
|
||||
|
||||
if (testData.isAllowBufferReadWrite) {
|
||||
*dst->ptr++ = val;
|
||||
}
|
||||
}
|
||||
|
||||
void sbufWriteData(sbuf_t *dst, const void *data, int len)
|
||||
{
|
||||
UNUSED(dst); UNUSED(data); UNUSED(len);
|
||||
|
||||
if (testData.isAllowBufferReadWrite) {
|
||||
memcpy(dst->ptr, data, len);
|
||||
dst->ptr += len;
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
// modifies streambuf so that written data are prepared for reading
|
||||
void sbufSwitchToReader(sbuf_t *buf, uint8_t *base)
|
||||
{
|
||||
UNUSED(buf); UNUSED(base);
|
||||
|
||||
if (testData.isAllowBufferReadWrite) {
|
||||
buf->end = buf->ptr;
|
||||
buf->ptr = base;
|
||||
}
|
||||
}
|
||||
|
||||
uint8_t sbufReadU8(sbuf_t *src)
|
||||
{
|
||||
if (testData.isAllowBufferReadWrite) {
|
||||
return *src->ptr++;
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
void sbufAdvance(sbuf_t *buf, int size)
|
||||
{
|
||||
if (testData.isAllowBufferReadWrite) {
|
||||
buf->ptr += size;
|
||||
}
|
||||
}
|
||||
|
||||
int sbufBytesRemaining(const sbuf_t *buf)
|
||||
{
|
||||
if (testData.isAllowBufferReadWrite) {
|
||||
return buf->end - buf->ptr;
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
|
||||
const uint8_t* sbufConstPtr(const sbuf_t *buf)
|
||||
{
|
||||
return buf->ptr;
|
||||
}
|
||||
|
||||
void sbufReadData(const sbuf_t *src, void *data, int len)
|
||||
{
|
||||
if (testData.isAllowBufferReadWrite) {
|
||||
memcpy(data, src->ptr, len);
|
||||
}
|
||||
}
|
||||
|
||||
uint16_t sbufReadU16(sbuf_t *src)
|
||||
{
|
||||
uint16_t ret;
|
||||
ret = sbufReadU8(src);
|
||||
ret |= sbufReadU8(src) << 8;
|
||||
return ret;
|
||||
}
|
||||
|
||||
void sbufWriteU16(sbuf_t *dst, uint16_t val)
|
||||
{
|
||||
sbufWriteU8(dst, val >> 0);
|
||||
sbufWriteU8(dst, val >> 8);
|
||||
}
|
||||
|
||||
void sbufWriteU16BigEndian(sbuf_t *dst, uint16_t val)
|
||||
{
|
||||
sbufWriteU8(dst, val >> 8);
|
||||
sbufWriteU8(dst, (uint8_t)val);
|
||||
}
|
||||
|
||||
bool feature(uint32_t) { return false; }
|
||||
|
||||
void serialWriteBuf(serialPort_t *instance, const uint8_t *data, int count)
|
||||
{
|
||||
UNUSED(instance); UNUSED(data); UNUSED(count);
|
||||
|
||||
// // reset the input buffer
|
||||
testData.responseDataReadPos = 0;
|
||||
testData.indexOfCurrentRespBuf++;
|
||||
// testData.maxTimesOfRespDataAvailable = testData.responseDataLen + 1;
|
||||
}
|
||||
|
||||
serialPortConfig_t *findNextSerialPortConfig(serialPortFunction_e function)
|
||||
{
|
||||
UNUSED(function);
|
||||
|
||||
return NULL;
|
||||
}
|
||||
|
||||
void closeSerialPort(serialPort_t *serialPort)
|
||||
{
|
||||
UNUSED(serialPort);
|
||||
}
|
||||
|
||||
uint8_t* sbufPtr(sbuf_t *buf)
|
||||
{
|
||||
return buf->ptr;
|
||||
}
|
||||
|
||||
uint32_t sbufReadU32(sbuf_t *src)
|
||||
{
|
||||
uint32_t ret;
|
||||
ret = sbufReadU8(src);
|
||||
ret |= sbufReadU8(src) << 8;
|
||||
ret |= sbufReadU8(src) << 16;
|
||||
ret |= sbufReadU8(src) << 24;
|
||||
return ret;
|
||||
}
|
||||
|
||||
|
||||
uint32_t millis(void) { return testData.millis++; }
|
||||
|
||||
void beeper(beeperMode_e mode) { UNUSED(mode); }
|
||||
uint8_t armingFlags = 0;
|
||||
bool cmsInMenu;
|
||||
uint32_t resumeRefreshAt = 0;
|
||||
|
||||
void failsafeOnRxSuspend(uint32_t ) {}
|
||||
void failsafeOnRxResume(void) {}
|
||||
void failsafeOnValidDataReceived(void) {}
|
||||
void failsafeOnValidDataFailed(void) {}
|
||||
}
|
||||
File diff suppressed because it is too large
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Add table
Add a link
Reference in a new issue