add unittest for sumd serial rx implementation
This commit is contained in:
Johannes Kasberger
parent
1541466dac
commit
5684144cd4
|
|
@ -254,6 +254,10 @@ rx_rx_unittest_SRC := \
|
|||
$(USER_DIR)/config/feature.c \
|
||||
$(USER_DIR)/pg/rx.c
|
||||
|
||||
rx_sumd_unittest_SRC := \
|
||||
$(USER_DIR)/common/crc.c \
|
||||
$(USER_DIR)/common/streambuf.c \
|
||||
$(USER_DIR)/rx/sumd.c
|
||||
|
||||
scheduler_unittest_SRC := \
|
||||
$(USER_DIR)/scheduler/scheduler.c \
|
||||
|
|
|
|||
|
|
@ -0,0 +1,373 @@
|
|||
/*
|
||||
* This file is part of Betaflight.
|
||||
*
|
||||
* Betaflight 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.
|
||||
*
|
||||
* Betaflight 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 Betaflight. If not, see <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
|
||||
#include <stdint.h>
|
||||
|
||||
extern "C" {
|
||||
#include "platform.h"
|
||||
#include "pg/pg.h"
|
||||
#include "pg/rx.h"
|
||||
#include "drivers/serial.h"
|
||||
#include "drivers/time.h"
|
||||
#include "io/serial.h"
|
||||
#include "rx/rx.h"
|
||||
#include "rx/sumd.h"
|
||||
#include "telemetry/telemetry.h"
|
||||
#include "fc/rc_controls.h"
|
||||
#include "fc/rc_modes.h"
|
||||
#include "sensors/barometer.h"
|
||||
#include "sensors/battery.h"
|
||||
}
|
||||
|
||||
#include "unittest_macros.h"
|
||||
#include "gtest/gtest.h"
|
||||
|
||||
|
||||
extern "C" {
|
||||
uint8_t batteryCellCount = 3;
|
||||
float rcCommand[4] = {0, 0, 0, 0};
|
||||
int16_t telemTemperature1 = 0;
|
||||
baro_t baro = { .baroTemperature = 50 };
|
||||
telemetryConfig_t telemetryConfig_System;
|
||||
}
|
||||
|
||||
|
||||
bool telemetryCheckRxPortShared(const serialPortConfig_t *portConfig)
|
||||
{
|
||||
//TODO: implement
|
||||
(void) portConfig;
|
||||
return false;
|
||||
}
|
||||
|
||||
serialPort_t *telemetrySharedPort = NULL;
|
||||
|
||||
static uint16_t vbat = 100;
|
||||
uint16_t getVbat(void)
|
||||
{
|
||||
return vbat;
|
||||
}
|
||||
|
||||
uint32_t microseconds_stub_value = 0;
|
||||
uint32_t micros(void)
|
||||
{
|
||||
return microseconds_stub_value;
|
||||
}
|
||||
|
||||
#define SERIAL_BUFFER_SIZE 256
|
||||
#define SERIAL_PORT_DUMMY_IDENTIFIER (serialPortIdentifier_e)0x1234
|
||||
|
||||
typedef struct serialPortStub_s {
|
||||
uint8_t buffer[SERIAL_BUFFER_SIZE];
|
||||
int pos = 0;
|
||||
int end = 0;
|
||||
} serialPortStub_t;
|
||||
|
||||
static serialPort_t serialTestInstance;
|
||||
static serialPortConfig_t serialTestInstanceConfig = {
|
||||
.identifier = SERIAL_PORT_DUMMY_IDENTIFIER,
|
||||
.functionMask = 0
|
||||
};
|
||||
|
||||
static serialReceiveCallbackPtr stub_serialRxCallback;
|
||||
static serialPortConfig_t *findSerialPortConfig_stub_retval;
|
||||
static bool openSerial_called = false;
|
||||
static serialPortStub_t serialWriteStub;
|
||||
static bool portIsShared = false;
|
||||
|
||||
static portMode_e serialExpectedMode = MODE_RX;
|
||||
static portOptions_e serialExpectedOptions = SERIAL_UNIDIR;
|
||||
|
||||
|
||||
serialPortConfig_t *findSerialPortConfig(serialPortFunction_e function)
|
||||
{
|
||||
EXPECT_EQ(function, FUNCTION_RX_SERIAL);
|
||||
return findSerialPortConfig_stub_retval;
|
||||
}
|
||||
|
||||
serialPort_t *openSerialPort(
|
||||
serialPortIdentifier_e identifier,
|
||||
serialPortFunction_e function,
|
||||
serialReceiveCallbackPtr callback,
|
||||
void *callbackData,
|
||||
uint32_t baudrate,
|
||||
portMode_e mode,
|
||||
portOptions_e options
|
||||
)
|
||||
{
|
||||
openSerial_called = true;
|
||||
EXPECT_FALSE(NULL == callback);
|
||||
EXPECT_TRUE(NULL == callbackData);
|
||||
EXPECT_EQ(identifier, SERIAL_PORT_DUMMY_IDENTIFIER);
|
||||
EXPECT_EQ(options, serialExpectedOptions);
|
||||
EXPECT_EQ(function, FUNCTION_RX_SERIAL);
|
||||
EXPECT_EQ(baudrate, 115200);
|
||||
EXPECT_EQ(mode, serialExpectedMode);
|
||||
stub_serialRxCallback = callback;
|
||||
return &serialTestInstance;
|
||||
}
|
||||
|
||||
void serialWrite(serialPort_t *instance, uint8_t ch)
|
||||
{
|
||||
EXPECT_EQ(instance, &serialTestInstance);
|
||||
EXPECT_LT(serialWriteStub.pos, sizeof(serialWriteStub.buffer));
|
||||
serialWriteStub.buffer[serialWriteStub.pos++] = ch;
|
||||
}
|
||||
|
||||
void serialTestResetPort()
|
||||
{
|
||||
openSerial_called = false;
|
||||
stub_serialRxCallback = NULL;
|
||||
portIsShared = false;
|
||||
serialExpectedMode = MODE_RX;
|
||||
serialExpectedOptions = SERIAL_UNIDIR;
|
||||
}
|
||||
|
||||
class SumdRxInitUnitTest : public ::testing::Test
|
||||
{
|
||||
protected:
|
||||
virtual void SetUp()
|
||||
{
|
||||
serialTestResetPort();
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
TEST_F(SumdRxInitUnitTest, Test_SumdRxNotEnabled)
|
||||
{
|
||||
const rxConfig_t initialRxConfig = {};
|
||||
rxRuntimeConfig_t rxRuntimeConfig = {};
|
||||
findSerialPortConfig_stub_retval = NULL;
|
||||
|
||||
EXPECT_FALSE(sumdInit(&initialRxConfig, &rxRuntimeConfig));
|
||||
|
||||
EXPECT_EQ(18, rxRuntimeConfig.channelCount);
|
||||
EXPECT_EQ(11000, rxRuntimeConfig.rxRefreshRate);
|
||||
EXPECT_FALSE(NULL == rxRuntimeConfig.rcReadRawFn);
|
||||
EXPECT_FALSE(NULL == rxRuntimeConfig.rcFrameStatusFn);
|
||||
}
|
||||
|
||||
|
||||
TEST_F(SumdRxInitUnitTest, Test_SumdRxEnabled)
|
||||
{
|
||||
const rxConfig_t initialRxConfig = {};
|
||||
rxRuntimeConfig_t rxRuntimeConfig = {};
|
||||
findSerialPortConfig_stub_retval = &serialTestInstanceConfig;
|
||||
|
||||
EXPECT_TRUE(sumdInit(&initialRxConfig, &rxRuntimeConfig));
|
||||
|
||||
EXPECT_EQ(18, rxRuntimeConfig.channelCount);
|
||||
EXPECT_EQ(11000, rxRuntimeConfig.rxRefreshRate);
|
||||
EXPECT_FALSE(NULL == rxRuntimeConfig.rcReadRawFn);
|
||||
EXPECT_FALSE(NULL == rxRuntimeConfig.rcFrameStatusFn);
|
||||
|
||||
EXPECT_TRUE(openSerial_called);
|
||||
}
|
||||
|
||||
|
||||
|
||||
class SumdRxProtocollUnitTest : public ::testing::Test
|
||||
{
|
||||
protected:
|
||||
rxRuntimeConfig_t rxRuntimeConfig = {};
|
||||
virtual void SetUp()
|
||||
{
|
||||
serialTestResetPort();
|
||||
|
||||
const rxConfig_t initialRxConfig = {};
|
||||
findSerialPortConfig_stub_retval = &serialTestInstanceConfig;
|
||||
|
||||
EXPECT_TRUE(sumdInit(&initialRxConfig, &rxRuntimeConfig));
|
||||
microseconds_stub_value += 5000;
|
||||
EXPECT_EQ(RX_FRAME_PENDING, rxRuntimeConfig.rcFrameStatusFn(&rxRuntimeConfig));
|
||||
}
|
||||
|
||||
virtual void checkValidChannels()
|
||||
{
|
||||
//report frame complete once
|
||||
EXPECT_EQ(RX_FRAME_COMPLETE, rxRuntimeConfig.rcFrameStatusFn(&rxRuntimeConfig));
|
||||
EXPECT_EQ(RX_FRAME_PENDING, rxRuntimeConfig.rcFrameStatusFn(&rxRuntimeConfig));
|
||||
|
||||
ASSERT_EQ(900, rxRuntimeConfig.rcReadRawFn(&rxRuntimeConfig, 0));
|
||||
ASSERT_EQ(1100, rxRuntimeConfig.rcReadRawFn(&rxRuntimeConfig, 1));
|
||||
ASSERT_EQ(1500, rxRuntimeConfig.rcReadRawFn(&rxRuntimeConfig, 2));
|
||||
ASSERT_EQ(1900, rxRuntimeConfig.rcReadRawFn(&rxRuntimeConfig, 3));
|
||||
ASSERT_EQ(2100, rxRuntimeConfig.rcReadRawFn(&rxRuntimeConfig, 4));
|
||||
}
|
||||
|
||||
/*
|
||||
* the structure of a sumd packet is
|
||||
* 0xA8 = sync byte, 0x01 = status byte, number of channels
|
||||
* Channel data two bytes per channel
|
||||
* two bytes checksum
|
||||
*/
|
||||
virtual void sendValidPacket()
|
||||
{
|
||||
uint8_t packet[] = {0xA8, 0x01, 20,
|
||||
0x1c, 0x20, 0x22, 0x60, 0x2e, 0xe0, 0x3b, 0x60, 0x41, 0xa0,
|
||||
0x1c, 0x20, 0x1c, 0x20, 0x1c, 0x20, 0x1c, 0x20, 0x1c, 0x20,
|
||||
0x1c, 0x20, 0x1c, 0x20, 0x1c, 0x20, 0x1c, 0x20, 0x1c, 0x20,
|
||||
0x1c, 0x20, 0x1c, 0x20, 0x1c, 0x20, 0x1c, 0x20, 0x1c, 0x20,
|
||||
0x06, 0x3f
|
||||
};
|
||||
|
||||
for (size_t i = 0; i < sizeof(packet); i++) {
|
||||
EXPECT_EQ(RX_FRAME_PENDING, rxRuntimeConfig.rcFrameStatusFn(&rxRuntimeConfig));
|
||||
stub_serialRxCallback(packet[i], NULL);
|
||||
}
|
||||
checkValidChannels();
|
||||
}
|
||||
|
||||
virtual void sendValidLongPacket()
|
||||
{
|
||||
uint8_t packet[] = {0xA8, 0x01, 32,
|
||||
0x1c, 0x20, 0x22, 0x60, 0x2e, 0xe0, 0x3b, 0x60, 0x41, 0xa0,
|
||||
0x1c, 0x20, 0x1c, 0x20, 0x1c, 0x20, 0x1c, 0x20, 0x1c, 0x20,
|
||||
0x1c, 0x20, 0x1c, 0x20, 0x1c, 0x20, 0x1c, 0x20, 0x1c, 0x20,
|
||||
0x1c, 0x20, 0x1c, 0x20, 0x1c, 0x20, 0x1c, 0x20, 0x1c, 0x20,
|
||||
0x1c, 0x20, 0x1c, 0x20, 0x1c, 0x20, 0x1c, 0x20, 0x1c, 0x20,
|
||||
0x1c, 0x20, 0x1c, 0x20, 0x1c, 0x20, 0x1c, 0x20, 0x1c, 0x20,
|
||||
0x1c, 0x20, 0x1c, 0x20,
|
||||
0xeb, 0x61
|
||||
};
|
||||
|
||||
for (size_t i = 0; i < sizeof(packet); i++) {
|
||||
EXPECT_EQ(RX_FRAME_PENDING, rxRuntimeConfig.rcFrameStatusFn(&rxRuntimeConfig));
|
||||
stub_serialRxCallback(packet[i], NULL);
|
||||
}
|
||||
checkValidChannels();
|
||||
}
|
||||
|
||||
virtual void sendValidShortPacket()
|
||||
{
|
||||
uint8_t packet[] = {0xA8, 0x01, 16,
|
||||
0x1c, 0x20, 0x22, 0x60, 0x2e, 0xe0, 0x3b, 0x60, 0x41, 0xa0,
|
||||
0x1c, 0x20, 0x1c, 0x20, 0x1c, 0x20, 0x1c, 0x20, 0x1c, 0x20,
|
||||
0x1c, 0x20, 0x1c, 0x20, 0x1c, 0x20, 0x1c, 0x20, 0x1c, 0x20,
|
||||
0x1c, 0x20,
|
||||
0x37, 0x24
|
||||
};
|
||||
|
||||
for (size_t i = 0; i < sizeof(packet); i++) {
|
||||
EXPECT_EQ(RX_FRAME_PENDING, rxRuntimeConfig.rcFrameStatusFn(&rxRuntimeConfig));
|
||||
stub_serialRxCallback(packet[i], NULL);
|
||||
}
|
||||
|
||||
checkValidChannels();
|
||||
}
|
||||
|
||||
virtual void sendValidFsPacket()
|
||||
{
|
||||
|
||||
uint8_t packet[] = {0xA8, 0x81, 0x08,
|
||||
0x2E, 0xE0, 0x2E, 0xE0, 0x2E, 0xE0, 0x2E, 0xE0, 0x2E, 0xE0, 0x2E, 0xE0, 0x2E, 0xE0, 0x2E, 0xE0,
|
||||
0xF9, 0x0F
|
||||
};
|
||||
|
||||
for (size_t i = 0; i < sizeof(packet); i++) {
|
||||
EXPECT_EQ(RX_FRAME_PENDING, rxRuntimeConfig.rcFrameStatusFn(&rxRuntimeConfig));
|
||||
stub_serialRxCallback(packet[i], NULL);
|
||||
}
|
||||
|
||||
EXPECT_EQ(RX_FRAME_COMPLETE | RX_FRAME_FAILSAFE, rxRuntimeConfig.rcFrameStatusFn(&rxRuntimeConfig));
|
||||
EXPECT_EQ(RX_FRAME_PENDING, rxRuntimeConfig.rcFrameStatusFn(&rxRuntimeConfig));
|
||||
|
||||
for (size_t i = 0; i < 8; i++) {
|
||||
ASSERT_EQ(1500, rxRuntimeConfig.rcReadRawFn(&rxRuntimeConfig, i));
|
||||
}
|
||||
}
|
||||
|
||||
virtual void sendInvalidPacket()
|
||||
{
|
||||
uint8_t packet[] = {0xA8, 0x01, 20,
|
||||
0x1c, 0x21, 0x22, 0x60, 0x2e, 0xe0, 0x3b, 0x60, 0x41, 0xa0,
|
||||
0x1c, 0x20, 0x1c, 0x20, 0x1c, 0x20, 0x1c, 0x20, 0x1c, 0x20,
|
||||
0x1c, 0x20, 0x1c, 0x20, 0x1c, 0x20, 0x1c, 0x20, 0x1c, 0x20,
|
||||
0x1c, 0x20, 0x1c, 0x20, 0x1c, 0x20, 0x1c, 0x20, 0x1c, 0x20,
|
||||
0x06, 0x3f
|
||||
};
|
||||
|
||||
for (size_t i = 0; i < sizeof(packet); i++) {
|
||||
EXPECT_EQ(RX_FRAME_PENDING, rxRuntimeConfig.rcFrameStatusFn(&rxRuntimeConfig));
|
||||
stub_serialRxCallback(packet[i], NULL);
|
||||
}
|
||||
|
||||
EXPECT_EQ(RX_FRAME_PENDING, rxRuntimeConfig.rcFrameStatusFn(&rxRuntimeConfig));
|
||||
|
||||
ASSERT_EQ(900, rxRuntimeConfig.rcReadRawFn(&rxRuntimeConfig, 0));
|
||||
ASSERT_EQ(1100, rxRuntimeConfig.rcReadRawFn(&rxRuntimeConfig, 1));
|
||||
ASSERT_EQ(1500, rxRuntimeConfig.rcReadRawFn(&rxRuntimeConfig, 2));
|
||||
ASSERT_EQ(1900, rxRuntimeConfig.rcReadRawFn(&rxRuntimeConfig, 3));
|
||||
ASSERT_EQ(2100, rxRuntimeConfig.rcReadRawFn(&rxRuntimeConfig, 4));
|
||||
}
|
||||
|
||||
virtual void sendIncompletePacket()
|
||||
{
|
||||
uint8_t packet[] = {0xA8, 0x01, 20,
|
||||
0x1c, 0x20, 0x22, 0x60, 0x2e, 0xe0, 0x3b, 0x60, 0x41, 0xa0
|
||||
};
|
||||
|
||||
for (size_t i = 0; i < sizeof(packet); i++) {
|
||||
EXPECT_EQ(RX_FRAME_PENDING, rxRuntimeConfig.rcFrameStatusFn(&rxRuntimeConfig));
|
||||
stub_serialRxCallback(packet[i], NULL);
|
||||
}
|
||||
|
||||
microseconds_stub_value += 5000;
|
||||
|
||||
EXPECT_EQ(RX_FRAME_PENDING, rxRuntimeConfig.rcFrameStatusFn(&rxRuntimeConfig));
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
TEST_F(SumdRxProtocollUnitTest, Test_OnePacketReceived)
|
||||
{
|
||||
sendValidPacket();
|
||||
}
|
||||
|
||||
TEST_F(SumdRxProtocollUnitTest, Test_MultiplePacketsReceived)
|
||||
{
|
||||
sendValidPacket();
|
||||
sendValidPacket();
|
||||
}
|
||||
|
||||
TEST_F(SumdRxProtocollUnitTest, Test_Resync)
|
||||
{
|
||||
sendIncompletePacket();
|
||||
sendValidPacket();
|
||||
}
|
||||
|
||||
TEST_F(SumdRxProtocollUnitTest, Test_IgnoreInvalidCRC)
|
||||
{
|
||||
sendValidPacket();
|
||||
sendInvalidPacket();
|
||||
}
|
||||
|
||||
TEST_F(SumdRxProtocollUnitTest, Test_ShortPacketsReceived)
|
||||
{
|
||||
sendValidShortPacket();
|
||||
sendValidShortPacket();
|
||||
}
|
||||
|
||||
TEST_F(SumdRxProtocollUnitTest, TestShortPacketsReceivedWithFailsafe)
|
||||
{
|
||||
sendValidFsPacket();
|
||||
}
|
||||
|
||||
TEST_F(SumdRxProtocollUnitTest, Test_LongPacketsReceived)
|
||||
{
|
||||
sendValidLongPacket();
|
||||
sendValidLongPacket();
|
||||
}
|
||||
Loading…
Reference in New Issue