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Reenable failsafe unit test

This commit is contained in:
Dan Nixon 2017-06-10 17:14:32 +01:00
parent 5bc79368be
commit 45a436129b
1 changed files with 18 additions and 22 deletions
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40
src/test/unit/flight_failsafe_unittest.cc.txt → src/test/unit/flight_failsafe_unittest.cc
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@ -23,6 +23,8 @@
extern "C" {
#include "build/debug.h"
#include "config/parameter_group_ids.h"
#include "platform.h"
#include "common/axis.h"
@ -63,22 +65,18 @@ void resetCallCounters(void) {
#define PERIOD_OF_10_SCONDS 10000
#define DE_ACTIVATE_ALL_BOXES 0
rxConfig_t rxConfig;
failsafeConfig_t failsafeConfig;
uint32_t sysTickUptime;
void configureFailsafe(void)
{
memset(&rxConfig, 0, sizeof(rxConfig));
rxConfig.midrc = TEST_MID_RC;
rxConfig.mincheck = TEST_MIN_CHECK;
rxConfigMutable()->midrc = TEST_MID_RC;
rxConfigMutable()->mincheck = TEST_MIN_CHECK;
memset(&failsafeConfig, 0, sizeof(failsafeConfig));
failsafeConfig.failsafe_delay = 10; // 1 second
failsafeConfig.failsafe_off_delay = 50; // 5 seconds
failsafeConfig.failsafe_kill_switch = false;
failsafeConfig.failsafe_throttle = 1200;
failsafeConfig.failsafe_throttle_low_delay = 50; // 5 seconds
failsafeConfigMutable()->failsafe_delay = 10; // 1 second
failsafeConfigMutable()->failsafe_off_delay = 50; // 5 seconds
failsafeConfigMutable()->failsafe_kill_switch = false;
failsafeConfigMutable()->failsafe_throttle = 1200;
failsafeConfigMutable()->failsafe_throttle_low_delay = 50; // 5 seconds
sysTickUptime = 0;
}
//
@ -94,8 +92,8 @@ TEST(FlightFailsafeTest, TestFailsafeInitialState)
DISABLE_ARMING_FLAG(ARMED);
// when
useFailsafeConfig(&failsafeConfig);
failsafeInit(&rxConfig);
failsafeInit();
failsafeReset();
// then
EXPECT_EQ(false, failsafeIsMonitoring());
@ -162,7 +160,7 @@ TEST(FlightFailsafeTest, TestFailsafeDetectsRxLossAndStartsLanding)
failsafeOnValidDataReceived(); // set last valid sample at current time
// when
for (sysTickUptime = 0; sysTickUptime < (uint32_t)(failsafeConfig.failsafe_delay * MILLIS_PER_TENTH_SECOND + PERIOD_RXDATA_FAILURE); sysTickUptime++) {
for (sysTickUptime = 0; sysTickUptime < (uint32_t)(PERIOD_RXDATA_FAILURE + failsafeConfig()->failsafe_delay * MILLIS_PER_TENTH_SECOND); sysTickUptime++) {
failsafeOnValidDataFailed();
failsafeUpdateState();
@ -188,7 +186,7 @@ TEST(FlightFailsafeTest, TestFailsafeDetectsRxLossAndStartsLanding)
TEST(FlightFailsafeTest, TestFailsafeCausesLanding)
{
// given
sysTickUptime += failsafeConfig.failsafe_off_delay * MILLIS_PER_TENTH_SECOND;
sysTickUptime += failsafeConfig()->failsafe_off_delay * MILLIS_PER_TENTH_SECOND;
sysTickUptime++;
// when
@ -243,7 +241,7 @@ TEST(FlightFailsafeTest, TestFailsafeDetectsRxLossAndJustDisarms)
failsafeOnValidDataReceived(); // set last valid sample at current time
// when
for (sysTickUptime = 0; sysTickUptime < (uint32_t)(failsafeConfig.failsafe_delay * MILLIS_PER_TENTH_SECOND + PERIOD_RXDATA_FAILURE); sysTickUptime++) {
for (sysTickUptime = 0; sysTickUptime < (uint32_t)(failsafeConfig()->failsafe_delay * MILLIS_PER_TENTH_SECOND + PERIOD_RXDATA_FAILURE); sysTickUptime++) {
failsafeOnValidDataFailed();
failsafeUpdateState();
@ -305,7 +303,7 @@ TEST(FlightFailsafeTest, TestFailsafeDetectsKillswitchEvent)
// and
throttleStatus = THROTTLE_HIGH; // throttle HIGH to go for a failsafe landing procedure
failsafeConfig.failsafe_kill_switch = 1; // configure AUX switch as kill switch
failsafeConfigMutable()->failsafe_kill_switch = true; // configure AUX switch as kill switch
ACTIVATE_RC_MODE(BOXFAILSAFE); // and activate it
sysTickUptime = 0; // restart time from 0
failsafeOnValidDataReceived(); // set last valid sample at current time
@ -362,8 +360,7 @@ TEST(FlightFailsafeTest, TestFailsafeNotActivatedWhenDisarmedAndRXLossIsDetected
configureFailsafe();
// and
useFailsafeConfig(&failsafeConfig);
failsafeInit(&rxConfig);
failsafeInit();
// and
DISABLE_ARMING_FLAG(ARMED);
@ -411,6 +408,7 @@ uint32_t rcModeActivationMask;
int16_t debug[DEBUG16_VALUE_COUNT];
bool isUsingSticksToArm = true;
PG_REGISTER(rxConfig_t, rxConfig, PG_RX_CONFIG, 0);
// Return system uptime in milliseconds (rollover in 49 days)
uint32_t millis(void)
@ -418,10 +416,8 @@ uint32_t millis(void)
return sysTickUptime;
}
throttleStatus_e calculateThrottleStatus(rxConfig_t *rxConfig, uint16_t deadband3d_throttle)
throttleStatus_e calculateThrottleStatus()
{
UNUSED(rxConfig);
UNUSED(deadband3d_throttle);
return throttleStatus;
}