Adding unit test for updateRcOptions

src/main/rx/rx.h

@@ -20,6 +20,7 @@
 #define PWM_RANGE_ZERO 0 // FIXME should all usages of this be changed to use PWM_RANGE_MIN?
 #define PWM_RANGE_MIN 1000
 #define PWM_RANGE_MAX 2000
+#define PWM_RANGE_MIDDLE ((PWM_RANGE_MAX - PWM_RANGE_MIN) / 2)
 
 #define DEFAULT_SERVO_MIN 1020
 #define DEFAULT_SERVO_MIDDLE 1500

src/test/Makefile

@@ -33,7 +33,7 @@ CXXFLAGS += -g -Wall -Wextra -pthread -ggdb -O0
 
 # All tests produced by this Makefile.  Remember to add new tests you
 # created to the list.
-TESTS = battery_unittest flight_imu_unittest gps_conversion_unittest telemetry_hott_unittest
+TESTS = battery_unittest flight_imu_unittest gps_conversion_unittest telemetry_hott_unittest rc_controls_unittest
 
 # All Google Test headers.  Usually you shouldn't change this
 # definition.
@@ -137,3 +137,19 @@ $(OBJECT_DIR)/telemetry_hott_unittest.o : $(TEST_DIR)/telemetry_hott_unittest.cc
 
 telemetry_hott_unittest :$(OBJECT_DIR)/telemetry/hott.o $(OBJECT_DIR)/telemetry_hott_unittest.o $(OBJECT_DIR)/flight/gps_conversion.o $(OBJECT_DIR)/gtest_main.a
 	$(CXX) $(CPPFLAGS) $(CXXFLAGS) -lpthread $^ -o $(OBJECT_DIR)/$@
+
+
+
+$(OBJECT_DIR)/io/rc_controls.o : $(USER_DIR)/io/rc_controls.c $(USER_DIR)/io/rc_controls.h $(GTEST_HEADERS)
+	@mkdir -p $(dir $@)
+	$(CXX) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/io/rc_controls.c -o $@
+
+$(OBJECT_DIR)/rc_controls_unittest.o : $(TEST_DIR)/rc_controls_unittest.cc \
+                     $(USER_DIR)/io/rc_controls.h $(GTEST_HEADERS)
+	@mkdir -p $(dir $@)
+	$(CXX) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/rc_controls_unittest.cc -o $@
+
+rc_controls_unittest :$(OBJECT_DIR)/io/rc_controls.o $(OBJECT_DIR)/rc_controls_unittest.o $(OBJECT_DIR)/gtest_main.a
+	$(CXX) $(CPPFLAGS) $(CXXFLAGS) -lpthread $^ -o $(OBJECT_DIR)/$@
+
+

src/test/unit/rc_controls_unittest.cc

@@ -0,0 +1,83 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight 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.
+ *
+ * Cleanflight 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 Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+#include <stdint.h>
+
+#include <limits.h>
+
+#include "common/axis.h"
+#include "flight/flight.h"
+
+#include "rx/rx.h"
+#include "io/rc_controls.h"
+
+#include "unittest_macros.h"
+#include "gtest/gtest.h"
+
+
+#define NON_AUX_CHANNEL_COUNT 4
+
+TEST(RcControlsTest, updateRcOptionsWithAllInputsAtMidde)
+{
+    // given
+    uint32_t activate[CHECKBOX_ITEM_COUNT];
+    memset(&activate, 0, sizeof(activate));
+
+    uint8_t index;
+
+    for (index = 0; index < CHECKBOX_ITEM_COUNT; index++) {
+        rcOptions[index] = 0;
+    }
+
+    // and
+    memset(&rxRuntimeConfig, 0, sizeof(rxRuntimeConfig_t));
+    rxRuntimeConfig.auxChannelCount = MAX_SUPPORTED_RC_CHANNEL_COUNT - NON_AUX_CHANNEL_COUNT;
+
+    // and
+    for (index = AUX1; index < MAX_SUPPORTED_RC_CHANNEL_COUNT - NON_AUX_CHANNEL_COUNT; index++) {
+        rcData[index] = PWM_RANGE_MIDDLE;
+    }
+
+
+    // and
+    uint32_t expectedRcOptions[CHECKBOX_ITEM_COUNT];
+    memset(&expectedRcOptions, 0, sizeof(expectedRcOptions));
+
+    // when
+    updateRcOptions(activate);
+
+    // then
+    for (index = 0; index < CHECKBOX_ITEM_COUNT; index++) {
+        printf("iteration: %d\n", index);
+        EXPECT_EQ(expectedRcOptions[index], rcOptions[index]);
+    }
+}
+
+void changeProfile(uint8_t profileIndex) {}
+void accSetCalibrationCycles(uint16_t) {}
+void gyroSetCalibrationCycles(uint16_t) {}
+void applyAndSaveAccelerometerTrimsDelta(rollAndPitchTrims_t*) {}
+void handleInflightCalibrationStickPosition(void) {}
+void mwArm(void) {}
+void feature(uint32_t) {}
+void sensors(uint32_t) {}
+void mwDisarm(void) {}
+
+uint8_t armingFlags = 0;
+int16_t heading;
+uint8_t stateFlags = 0;
+int16_t rcData[MAX_SUPPORTED_RC_CHANNEL_COUNT];
+rxRuntimeConfig_t rxRuntimeConfig;