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Add unit test for sumd serial rx implementation (#8324) 

Add unit test for sumd serial rx implementation
This commit is contained in:
Michael Keller 2019-05-25 12:34:30 +12:00 committed by GitHub
parent 09d6d12504 5684144cd4
commit 5a851d7121
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2 changed files with 377 additions and 0 deletions
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4
src/test/Makefile
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@ -254,6 +254,10 @@ rx_rx_unittest_SRC := \
$(USER_DIR)/config/feature.c \ $(USER_DIR)/config/feature.c \
$(USER_DIR)/pg/rx.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 := \ scheduler_unittest_SRC := \
$(USER_DIR)/scheduler/scheduler.c \ $(USER_DIR)/scheduler/scheduler.c \

373
src/test/unit/rx_sumd_unittest.cc Normal file
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@ -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();
}