Merge pull request #2596 from unitware/beta-unittest-ibus-telemetry
Unittest of ibus telemetry
This commit is contained in:
Anders Höglund
GitHub
commit
9c03b32114
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@ -842,6 +842,30 @@ $(OBJECT_DIR)/rx_ibus_unittest : \
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$(CXX) $(CXX_FLAGS) $(PG_FLAGS) $^ -o $(OBJECT_DIR)/$@
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$(OBJECT_DIR)/telemetry/ibus.o : \
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$(USER_DIR)/telemetry/ibus.c \
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$(USER_DIR)/telemetry/ibus.h \
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$(GTEST_HEADERS)
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@mkdir -p $(dir $@)
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$(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/telemetry/ibus.c -o $@
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$(OBJECT_DIR)/telemetry_ibus_unittest.o : \
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$(TEST_DIR)/telemetry_ibus_unittest.cc \
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$(GTEST_HEADERS)
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@mkdir -p $(dir $@)
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$(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/telemetry_ibus_unittest.cc -o $@
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$(OBJECT_DIR)/telemetry_ibus_unittest : \
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$(OBJECT_DIR)/telemetry_ibus_unittest.o \
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$(OBJECT_DIR)/telemetry/ibus.o \
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$(OBJECT_DIR)/gtest_main.a
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$(CXX) $(CXX_FLAGS) $(PG_FLAGS) $^ -o $(OBJECT_DIR)/$@
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## test : Build and run the Unit Tests
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test: $(TESTS:%=test-%)
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@ -0,0 +1,489 @@
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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 <stdint.h>
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#include <string.h>
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extern "C" {
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#include <platform.h>
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#include "config/parameter_group.h"
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#include "drivers/serial.h"
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#include "io/serial.h"
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#include "fc/rc_controls.h"
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#include "telemetry/telemetry.h"
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#include "telemetry/ibus.h"
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#include "sensors/barometer.h"
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#include "sensors/battery.h"
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#include "scheduler/scheduler.h"
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#include "fc/fc_tasks.h"
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}
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#include "unittest_macros.h"
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#include "gtest/gtest.h"
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extern "C" {
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uint8_t batteryCellCount = 3;
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int16_t rcCommand[4] = {0, 0, 0, 0};
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int16_t telemTemperature1 = 0;
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baro_t baro = { .baroTemperature = 50 };
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telemetryConfig_t telemetryConfig_System;
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}
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#define SERIAL_BUFFER_SIZE 256
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typedef struct serialPortStub_s {
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uint8_t buffer[SERIAL_BUFFER_SIZE];
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int pos = 0;
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int end = 0;
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} serialPortStub_t;
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static uint16_t vbat = 100;
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uint16_t getVbat(void)
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{
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return vbat;
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}
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static serialPortStub_t serialWriteStub;
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static serialPortStub_t serialReadStub;
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#define SERIAL_PORT_DUMMY_IDENTIFIER (serialPortIdentifier_e)0x1234
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serialPort_t serialTestInstance;
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serialPortConfig_t serialTestInstanceConfig = {
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.identifier = SERIAL_PORT_DUMMY_IDENTIFIER,
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.functionMask = 0
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};
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static serialPortConfig_t *findSerialPortConfig_stub_retval;
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static portSharing_e determinePortSharing_stub_retval;
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static bool openSerial_called = false;
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static bool telemetryDetermineEnabledState_stub_retval;
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void rescheduleTask(cfTaskId_e taskId, uint32_t newPeriodMicros)
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{
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EXPECT_EQ(taskId, TASK_TELEMETRY);
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EXPECT_EQ(newPeriodMicros, 1000);
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}
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serialPortConfig_t *findSerialPortConfig(serialPortFunction_e function)
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{
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EXPECT_EQ(function, FUNCTION_TELEMETRY_IBUS);
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return findSerialPortConfig_stub_retval;
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}
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portSharing_e determinePortSharing(const serialPortConfig_t *portConfig, serialPortFunction_e function)
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{
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EXPECT_EQ(portConfig, findSerialPortConfig_stub_retval);
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EXPECT_EQ(function, FUNCTION_TELEMETRY_IBUS);
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return PORTSHARING_UNUSED;
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}
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bool telemetryDetermineEnabledState(portSharing_e portSharing)
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{
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(void) portSharing;
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return telemetryDetermineEnabledState_stub_retval;
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}
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serialPortConfig_t *findSerialPortConfig(uint16_t mask)
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{
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EXPECT_EQ(mask, FUNCTION_TELEMETRY_IBUS);
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return findSerialPortConfig_stub_retval ;
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}
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serialPort_t *openSerialPort(
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serialPortIdentifier_e identifier,
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serialPortFunction_e function,
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serialReceiveCallbackPtr callback,
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uint32_t baudrate,
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portMode_t mode,
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portOptions_t options
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)
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{
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openSerial_called = true;
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(void) callback;
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EXPECT_EQ(identifier, SERIAL_PORT_DUMMY_IDENTIFIER);
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EXPECT_EQ(options, SERIAL_BIDIR);
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EXPECT_EQ(function, FUNCTION_TELEMETRY_IBUS);
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EXPECT_EQ(baudrate, 115200);
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EXPECT_EQ(mode, MODE_RXTX);
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return &serialTestInstance;
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}
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void closeSerialPort(serialPort_t *serialPort)
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{
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EXPECT_EQ(serialPort, &serialTestInstance);
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}
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void serialWrite(serialPort_t *instance, uint8_t ch)
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{
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EXPECT_EQ(instance, &serialTestInstance);
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EXPECT_LT(serialWriteStub.pos, sizeof(serialWriteStub.buffer));
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serialWriteStub.buffer[serialWriteStub.pos++] = ch;
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serialReadStub.buffer[serialReadStub.end++] = ch; //characters echoes back on the shared wire
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//printf("w: %02d 0x%02x\n", serialWriteStub.pos, ch);
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}
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uint32_t serialRxBytesWaiting(const serialPort_t *instance)
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{
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EXPECT_EQ(instance, &serialTestInstance);
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EXPECT_GE(serialReadStub.end, serialReadStub.pos);
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int ret = serialReadStub.end - serialReadStub.pos;
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if (ret < 0) {
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ret = 0;
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}
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//printf("serialRxBytesWaiting: %d\n", ret);
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return ret;
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}
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uint8_t serialRead(serialPort_t *instance)
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{
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EXPECT_EQ(instance, &serialTestInstance);
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EXPECT_LT(serialReadStub.pos, serialReadStub.end);
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const uint8_t ch = serialReadStub.buffer[serialReadStub.pos++];
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return ch;
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}
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void serialTestResetBuffers()
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{
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memset(&serialReadStub, 0, sizeof(serialReadStub));
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memset(&serialWriteStub, 0, sizeof(serialWriteStub));
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}
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void serialTestResetPort()
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{
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openSerial_called = false;
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determinePortSharing_stub_retval = PORTSHARING_UNUSED;
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telemetryDetermineEnabledState_stub_retval = true;
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serialTestResetBuffers();
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}
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class IbusTelemteryInitUnitTest : public ::testing::Test
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{
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protected:
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virtual void SetUp()
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{
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serialTestResetPort();
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}
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};
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TEST_F(IbusTelemteryInitUnitTest, Test_IbusInitNotEnabled)
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{
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findSerialPortConfig_stub_retval = NULL;
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telemetryDetermineEnabledState_stub_retval = false;
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//given stuff in serial read
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serialReadStub.end++;
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//when initializing and polling ibus
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initIbusTelemetry();
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checkIbusTelemetryState();
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handleIbusTelemetry();
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//then nothing is read from serial port
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EXPECT_NE(serialReadStub.pos, serialReadStub.end);
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EXPECT_FALSE(openSerial_called);
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}
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TEST_F(IbusTelemteryInitUnitTest, Test_IbusInitEnabled)
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{
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findSerialPortConfig_stub_retval = &serialTestInstanceConfig;
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//given stuff in serial read
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serialReadStub.end++;
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//when initializing and polling ibus
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initIbusTelemetry();
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checkIbusTelemetryState();
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handleIbusTelemetry();
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//then all is read from serial port
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EXPECT_EQ(serialReadStub.pos, serialReadStub.end);
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EXPECT_TRUE(openSerial_called);
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}
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class IbusTelemetryProtocolUnitTestBase : public ::testing::Test
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{
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protected:
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virtual void SetUp()
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{
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telemetryConfigMutable()->report_cell_voltage = false;
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serialTestResetBuffers();
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initIbusTelemetry();
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checkIbusTelemetryState();
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}
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void checkResponseToCommand(const char *rx, uint8_t rxCnt, const char *expectedTx, uint8_t expectedTxCnt)
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{
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serialTestResetBuffers();
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memcpy(serialReadStub.buffer, rx, rxCnt);
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serialReadStub.end += rxCnt;
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//when polling ibus
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for (int i = 0; i<10; i++) {
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handleIbusTelemetry();
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}
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EXPECT_EQ(expectedTxCnt, serialWriteStub.pos);
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EXPECT_EQ(0, memcmp(serialWriteStub.buffer, expectedTx, expectedTxCnt));
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}
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void setupBaseAddressOne(void)
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{
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checkResponseToCommand("\x04\x81\x7a\xff", 4, "\x04\x81\x7a\xff", 4);
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serialTestResetBuffers();
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}
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void setupBaseAddressThree(void)
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{
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checkResponseToCommand("\x04\x83\x78\xff", 4, "\x04\x83\x78\xff", 4);
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serialTestResetBuffers();
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}
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};
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class IbusTelemteryProtocolUnitTest : public ::IbusTelemetryProtocolUnitTestBase
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{
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protected:
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virtual void SetUp()
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{
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IbusTelemetryProtocolUnitTestBase::SetUp();
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setupBaseAddressOne();
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}
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};
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TEST_F(IbusTelemteryProtocolUnitTest, Test_IbusNoRespondToDiscoveryCrcErr)
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{
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//Given ibus command: Hello sensor at address 1, are you there (with bad crc)?
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//then we do not respond
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checkResponseToCommand("\x04\x81\x00\x00", 4, NULL, 0);
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}
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TEST_F(IbusTelemteryProtocolUnitTest, Test_IbusRespondToDiscovery)
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{
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//Given ibus command: Hello sensor at address 1, are you there?
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//then we respond with: Yes, i'm here, hello!
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checkResponseToCommand("\x04\x81\x7a\xff", 4, "\x04\x81\x7A\xFF", 4);
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}
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TEST_F(IbusTelemteryProtocolUnitTest, Test_IbusRespondToSensorTypeQueryVbatt)
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{
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//Given ibus command: Sensor at address 1, what type are you?
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//then we respond with: I'm a voltage sensor
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checkResponseToCommand("\x04\x91\x6A\xFF", 4, "\x06\x91\x03\x02\x63\xFF", 6);
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}
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TEST_F(IbusTelemteryProtocolUnitTest, Test_IbusRespondToSensorTypeQueryTemperature)
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{
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//Given ibus command: Sensor at address 1, what type are you?
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//then we respond with: I'm a thermometer
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checkResponseToCommand("\x04\x92\x69\xFF", 4, "\x06\x92\x01\x02\x64\xFF", 6);
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}
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TEST_F(IbusTelemteryProtocolUnitTest, Test_IbusRespondToSensorTypeQueryRpm)
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{
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//Given ibus command: Sensor at address 3, what type are you?
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//then we respond with: I'm a rpm sensor
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checkResponseToCommand("\x04\x93\x68\xFF", 4, "\x06\x93\x02\x02\x62\xFF", 6);
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}
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TEST_F(IbusTelemteryProtocolUnitTest, Test_IbusRespondToGetMeasurementVbattZero)
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{
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//Given ibus command: Sensor at address 1, please send your measurement
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//then we respond with: I'm reading 0 volts
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vbat = 0;
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checkResponseToCommand("\x04\xA1\x5a\xff", 4, "\x06\xA1\x00\x00\x58\xFF", 6);
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}
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TEST_F(IbusTelemteryProtocolUnitTest, Test_IbusRespondToGetMeasurementVbattCellVoltage)
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{
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telemetryConfigMutable()->report_cell_voltage = true;
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//Given ibus command: Sensor at address 1, please send your measurement
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//then we respond with: I'm reading 0.1 volts
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batteryCellCount = 3;
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vbat = 30;
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checkResponseToCommand("\x04\xA1\x5a\xff", 4, "\x06\xA1\x64\x00\xf4\xFe", 6);
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//Given ibus command: Sensor at address 1, please send your measurement
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//then we respond with: I'm reading 0.1 volts
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batteryCellCount = 1;
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vbat = 10;
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checkResponseToCommand("\x04\xA1\x5a\xff", 4, "\x06\xA1\x64\x00\xf4\xFe", 6);
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}
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TEST_F(IbusTelemteryProtocolUnitTest, Test_IbusRespondToGetMeasurementVbattPackVoltage)
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{
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telemetryConfigMutable()->report_cell_voltage = false;
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//Given ibus command: Sensor at address 1, please send your measurement
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//then we respond with: I'm reading 0.1 volts
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batteryCellCount = 3;
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vbat = 10;
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checkResponseToCommand("\x04\xA1\x5a\xff", 4, "\x06\xA1\x64\x00\xf4\xFe", 6);
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//Given ibus command: Sensor at address 1, please send your measurement
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//then we respond with: I'm reading 0.1 volts
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batteryCellCount = 1;
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vbat = 10;
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checkResponseToCommand("\x04\xA1\x5a\xff", 4, "\x06\xA1\x64\x00\xf4\xFe", 6);
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}
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TEST_F(IbusTelemteryProtocolUnitTest, Test_IbusRespondToGetMeasurementTemperature)
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{
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#ifdef BARO
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//Given ibus command: Sensor at address 2, please send your measurement
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//then we respond
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baro.baroTemperature = 50;
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checkResponseToCommand("\x04\xA2\x59\xff", 4, "\x06\xA2\x95\x01\xc1\xFE", 6);
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//Given ibus command: Sensor at address 2, please send your measurement
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//then we respond
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baro.baroTemperature = 59; //test integer rounding
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checkResponseToCommand("\x04\xA2\x59\xff", 4, "\x06\xA2\x96\x01\xc0\xFE", 6);
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//Given ibus command: Sensor at address 2, please send your measurement
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//then we respond
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baro.baroTemperature = 150;
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checkResponseToCommand("\x04\xA2\x59\xff", 4, "\x06\xA2\x9f\x01\xb7\xFE", 6);
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#else
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#error not tested, may be obsolete
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// //Given ibus command: Sensor at address 2, please send your measurement
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// //then we respond with: I'm reading 0 degrees + constant offset 0x190
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// telemTemperature1 = 0;
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// checkResponseToCommand("\x04\xA2\x59\xff", 4, "\x06\xA2\x90\x01\xC6\xFE", 6);
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// //Given ibus command: Sensor at address 2, please send your measurement
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// //then we respond with: I'm reading 100 degrees + constant offset 0x190
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// telemTemperature1 = 100;
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// checkResponseToCommand("\x04\xA2\x59\xff", 4, "\x06\xA2\xF4\x01\x62\xFE", 6);
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#endif
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}
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TEST_F(IbusTelemteryProtocolUnitTest, Test_IbusRespondToGetMeasurementRpm)
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{
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//Given ibus command: Sensor at address 3, please send your measurement
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//then we respond with: I'm reading 0 rpm
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rcCommand[THROTTLE] = 0;
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checkResponseToCommand("\x04\xA3\x58\xff", 4, "\x06\xA3\x00\x00\x56\xFF", 6);
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//Given ibus command: Sensor at address 3, please send your measurement
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//then we respond with: I'm reading 100 rpm
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rcCommand[THROTTLE] = 100;
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checkResponseToCommand("\x04\xA3\x58\xff", 4, "\x06\xA3\x64\x00\xf2\xFe", 6);
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}
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class IbusTelemteryProtocolUnitTestDaisyChained : public ::IbusTelemetryProtocolUnitTestBase
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||||
{
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||||
protected:
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||||
virtual void SetUp()
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||||
{
|
||||
IbusTelemetryProtocolUnitTestBase::SetUp();
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||||
setupBaseAddressThree();
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||||
}
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||||
};
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||||
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||||
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||||
TEST_F(IbusTelemteryProtocolUnitTestDaisyChained, Test_IbusRespondToDiscoveryBaseAddressThree)
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||||
{
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||||
//Given ibus commands: Hello sensor at address 3, 4, 5 are you there?
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||||
//then we respond with: Yes, we're here, hello!
|
||||
checkResponseToCommand("\x04\x83\x78\xff", 4, "\x04\x83\x78\xff", 4);
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||||
checkResponseToCommand("\x04\x84\x77\xff", 4, "\x04\x84\x77\xff", 4);
|
||||
checkResponseToCommand("\x04\x85\x76\xff", 4, "\x04\x85\x76\xff", 4);
|
||||
}
|
||||
|
||||
|
||||
TEST_F(IbusTelemteryProtocolUnitTestDaisyChained, Test_IbusRespondToSensorTypeQueryWrongAddress)
|
||||
{
|
||||
//Given ibus commands: Sensor at address 1, 2, 6, what type are you?
|
||||
//then we do not respond
|
||||
checkResponseToCommand("\x04\x91\x6A\xFF", 4, "", 0);
|
||||
checkResponseToCommand("\x04\x92\x69\xFF", 4, "", 0);
|
||||
|
||||
checkResponseToCommand("\x04\x96\x65\xFF", 4, "", 0);
|
||||
}
|
||||
|
||||
|
||||
TEST_F(IbusTelemteryProtocolUnitTestDaisyChained, Test_IbusRespondToSensorTypeQueryVbattBaseThree)
|
||||
{
|
||||
//Given ibus commands: Sensor at address 3, 4, 5, what type are you?
|
||||
//then we respond with: I'm a voltage sensor
|
||||
checkResponseToCommand("\x04\x93\x68\xFF", 4, "\x06\x93\x03\x02\x61\xFF", 6);
|
||||
//then we respond with: I'm a thermometer
|
||||
checkResponseToCommand("\x04\x94\x67\xFF", 4, "\x06\x94\x01\x02\x62\xFF", 6);
|
||||
//then we respond with: I'm a rpm sensor
|
||||
checkResponseToCommand("\x04\x95\x66\xFF", 4, "\x06\x95\x02\x02\x60\xFF", 6);
|
||||
}
|
||||
|
||||
|
||||
TEST_F(IbusTelemteryProtocolUnitTestDaisyChained, Test_IbusRespondToGetMeasurementsBaseThree)
|
||||
{
|
||||
//Given ibus command: Sensor at address 3, please send your measurement
|
||||
//then we respond with: I'm reading 0.1 volts
|
||||
batteryCellCount = 1;
|
||||
vbat = 10;
|
||||
checkResponseToCommand("\x04\xA3\x58\xff", 4, "\x06\xA3\x64\x00\xf2\xFe", 6);
|
||||
|
||||
#ifdef BARO
|
||||
//Given ibus command: Sensor at address 4, please send your measurement
|
||||
//then we respond
|
||||
baro.baroTemperature = 150;
|
||||
checkResponseToCommand("\x04\xA4\x57\xff", 4, "\x06\xA4\x9f\x01\xb5\xFE", 6);
|
||||
#else
|
||||
//Given ibus command: Sensor at address 4, please send your measurement
|
||||
//then we respond with: I'm reading 100 degrees + constant offset 0x190
|
||||
telemTemperature1 = 100;
|
||||
checkResponseToCommand("\x04\xA4\x57\xff", 4, "\x06\xA4\xF4\x01\x60\xFE", 6);
|
||||
#endif
|
||||
|
||||
//Given ibus command: Sensor at address 5, please send your measurement
|
||||
//then we respond with: I'm reading 100 rpm
|
||||
rcCommand[THROTTLE] = 100;
|
||||
checkResponseToCommand("\x04\xA5\x56\xff", 4, "\x06\xA5\x64\x00\xf0\xFe", 6);
|
||||
}
|
||||
Loading…
Reference in New Issue