Merge pull request #2595 from unitware/beta-unittest-ibus-serial-rx
Unittest of ibus serial rx
This commit is contained in:
Anders Höglund
GitHub
commit
dd9edccff9
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@ -53,7 +53,7 @@
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#define IBUS_BAUDRATE 115200
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static uint8_t ibusModel;
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static uint8_t ibusSyncByte = 0;
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static uint8_t ibusSyncByte;
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static uint8_t ibusFrameSize;
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static uint8_t ibusChannelOffset;
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static uint16_t ibusChecksum;
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@ -92,8 +92,9 @@ static void ibusDataReceive(uint16_t c)
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ibusFrameSize = 32;
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ibusChannelOffset = 2;
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ibusChecksum = 0xFFFF;
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} else
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} else {
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return;
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}
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} else if (ibusSyncByte != c) {
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return;
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}
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@ -149,6 +150,7 @@ static uint16_t ibusReadRawRC(const rxRuntimeConfig_t *rxRuntimeConfig, uint8_t
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bool ibusInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig)
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{
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UNUSED(rxConfig);
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ibusSyncByte = 0;
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rxRuntimeConfig->channelCount = IBUS_MAX_CHANNEL;
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rxRuntimeConfig->rxRefreshRate = 20000; // TODO - Verify speed
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@ -820,6 +820,28 @@ $(OBJECT_DIR)/parameter_groups_unittest : \
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$(CXX) $(CXX_FLAGS) $(PG_FLAGS) $^ -o $(OBJECT_DIR)/$@
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$(OBJECT_DIR)/rx/ibus.o : \
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$(USER_DIR)/rx/ibus.c \
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$(USER_DIR)/rx/ibus.h \
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$(GTEST_HEADERS)
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@mkdir -p $(dir $@)
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$(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/rx/ibus.c -o $@
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$(OBJECT_DIR)/rx_ibus_unittest.o : \
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$(TEST_DIR)/rx_ibus_unittest.cc \
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$(GTEST_HEADERS)
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@mkdir -p $(dir $@)
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$(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/rx_ibus_unittest.cc -o $@
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$(OBJECT_DIR)/rx_ibus_unittest : \
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$(OBJECT_DIR)/rx_ibus_unittest.o \
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$(OBJECT_DIR)/rx/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 +1,306 @@
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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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extern "C" {
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#include <platform.h>
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#include "config/parameter_group.h"
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#include "drivers/system.h"
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#include "drivers/serial.h"
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#include "io/serial.h"
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#include "rx/rx.h"
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#include "rx/ibus.h"
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#include "telemetry/telemetry.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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bool telemetryCheckRxPortShared(const serialPortConfig_t *portConfig)
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{
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//TODO: implement
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(void) portConfig;
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return false;
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}
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serialPort_t * telemetrySharedPort = NULL;
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uint32_t microseconds_stub_value = 0;
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uint32_t micros(void)
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{
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return microseconds_stub_value;
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}
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#define SERIAL_PORT_DUMMY_IDENTIFIER (serialPortIdentifier_e)0x1234
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static serialPort_t serialTestInstance;
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static 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 serialReceiveCallbackPtr stub_serialRxCallback;
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static serialPortConfig_t *findSerialPortConfig_stub_retval;
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static bool openSerial_called = false;
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serialPortConfig_t *findSerialPortConfig(serialPortFunction_e function)
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{
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EXPECT_EQ(function, FUNCTION_RX_SERIAL);
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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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EXPECT_FALSE(NULL == callback);
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EXPECT_EQ(identifier, SERIAL_PORT_DUMMY_IDENTIFIER);
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EXPECT_EQ(options, SERIAL_UNIDIR);
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EXPECT_EQ(function, FUNCTION_RX_SERIAL);
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EXPECT_EQ(baudrate, 115200);
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EXPECT_EQ(mode, MODE_RX);
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stub_serialRxCallback = callback;
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return &serialTestInstance;
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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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stub_serialRxCallback = NULL;
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}
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class IbusRxInitUnitTest : 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(IbusRxInitUnitTest, Test_IbusRxNotEnabled)
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{
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const rxConfig_t initialRxConfig = {};
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rxRuntimeConfig_t rxRuntimeConfig = {};
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findSerialPortConfig_stub_retval = NULL;
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EXPECT_FALSE(ibusInit(&initialRxConfig, &rxRuntimeConfig));
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//TODO: Question: I'd expect that runtime conf was not initialized unless there was a serial port to run but the implementation states otherwise
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// EXPECT_EQ(0, rxRuntimeConfig.channelCount);
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// EXPECT_EQ(0, rxRuntimeConfig.rxRefreshRate);
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// EXPECT_EQ(NULL, rxRuntimeConfig.rcReadRawFn);
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// EXPECT_EQ(NULL, rxRuntimeConfig.rcFrameStatusFn);
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EXPECT_EQ(14, rxRuntimeConfig.channelCount);
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EXPECT_EQ(20000, rxRuntimeConfig.rxRefreshRate);
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EXPECT_FALSE(NULL == rxRuntimeConfig.rcReadRawFn);
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EXPECT_FALSE(NULL == rxRuntimeConfig.rcFrameStatusFn);
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}
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TEST_F(IbusRxInitUnitTest, Test_IbusRxEnabled)
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{
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const rxConfig_t initialRxConfig = {};
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rxRuntimeConfig_t rxRuntimeConfig = {};
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findSerialPortConfig_stub_retval = &serialTestInstanceConfig;
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EXPECT_TRUE(ibusInit(&initialRxConfig, &rxRuntimeConfig));
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EXPECT_EQ(14, rxRuntimeConfig.channelCount);
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EXPECT_EQ(20000, rxRuntimeConfig.rxRefreshRate);
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EXPECT_FALSE(NULL == rxRuntimeConfig.rcReadRawFn);
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EXPECT_FALSE(NULL == rxRuntimeConfig.rcFrameStatusFn);
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EXPECT_TRUE(openSerial_called);
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}
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class IbusRxProtocollUnitTest : public ::testing::Test
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{
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protected:
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rxRuntimeConfig_t rxRuntimeConfig = {};
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virtual void SetUp()
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{
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serialTestResetPort();
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const rxConfig_t initialRxConfig = {};
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findSerialPortConfig_stub_retval = &serialTestInstanceConfig;
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EXPECT_TRUE(ibusInit(&initialRxConfig, &rxRuntimeConfig));
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//handle that internal ibus position is not set to zero at init
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microseconds_stub_value += 5000;
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EXPECT_EQ(RX_FRAME_PENDING, rxRuntimeConfig.rcFrameStatusFn());
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}
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};
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TEST_F(IbusRxProtocollUnitTest, Test_InitialFrameState)
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{
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//TODO: ibusFrameStatus should return rxFrameState_t not uint8_t
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EXPECT_EQ(RX_FRAME_PENDING, rxRuntimeConfig.rcFrameStatusFn());
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//TODO: is it ok to have undefined channel values after init?
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}
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TEST_F(IbusRxProtocollUnitTest, Test_IA6B_OnePacketReceived)
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{
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uint8_t packet[] = {0x20, 0x00, //length and reserved (unknown) bits
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0x00, 0x00, 0x01, 0x00, 0x02, 0x00, 0x03, 0x00, 0x04, 0x00, //channel 1..5
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0x05, 0x00, 0x06, 0x00, 0x07, 0x00, 0x08, 0x00, 0x09, 0x00, //channel 6..10
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0x0a, 0x00, 0x0b, 0x00, 0x0c, 0x00, 0x0d, 0x00, //channel 11..14
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0x84, 0xff}; //checksum
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for (size_t i=0; i < sizeof(packet); i++) {
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EXPECT_EQ(RX_FRAME_PENDING, rxRuntimeConfig.rcFrameStatusFn());
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stub_serialRxCallback(packet[i]);
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}
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//report frame complete once
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EXPECT_EQ(RX_FRAME_COMPLETE, rxRuntimeConfig.rcFrameStatusFn());
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EXPECT_EQ(RX_FRAME_PENDING, rxRuntimeConfig.rcFrameStatusFn());
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//check that channel values have been updated
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for (int i=0; i<14; i++) {
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ASSERT_EQ(i, rxRuntimeConfig.rcReadRawFn(&rxRuntimeConfig, i));
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}
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}
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TEST_F(IbusRxProtocollUnitTest, Test_IA6B_OnePacketReceivedWithBadCrc)
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{
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uint8_t packet[] = {0x20, 0x00, //length and reserved (unknown) bits
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0x00, 0x33, 0x01, 0x33, 0x02, 0x33, 0x03, 0x33, 0x04, 0x33, //channel 1..5
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0x05, 0x33, 0x06, 0x33, 0x07, 0x33, 0x08, 0x33, 0x09, 0x33, //channel 6..10
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0x0a, 0x33, 0x0b, 0x33, 0x0c, 0x33, 0x0d, 0x33, //channel 11..14
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0x00, 0x00}; //checksum
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for (size_t i=0; i < sizeof(packet); i++) {
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EXPECT_EQ(RX_FRAME_PENDING, rxRuntimeConfig.rcFrameStatusFn());
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stub_serialRxCallback(packet[i]);
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}
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//no frame complete
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EXPECT_EQ(RX_FRAME_PENDING, rxRuntimeConfig.rcFrameStatusFn());
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//check that channel values have not been updated
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for (int i=0; i<14; i++) {
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ASSERT_NE(i + (0x33 << 8), rxRuntimeConfig.rcReadRawFn(&rxRuntimeConfig, i));
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}
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}
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TEST_F(IbusRxProtocollUnitTest, Test_IA6B_HalfPacketReceived_then_interPacketGapReset)
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{
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const uint8_t packet_half[] = {0x20, 0x00, //length and reserved (unknown) bits
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0x00, 0xab, 0x01, 0xab, 0x02, 0xab, 0x03, 0xab, 0x04, 0xab, //channel 1..5
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0x05, 0xab};
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const uint8_t packet_full[] = {0x20, 0x00, //length and reserved (unknown) bits
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0x00, 0x00, 0x01, 0x00, 0x02, 0x00, 0x03, 0x00, 0x04, 0x00, //channel 1..5
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0x05, 0x00, 0x06, 0x00, 0x07, 0x00, 0x08, 0x00, 0x09, 0x00, //channel 6..10
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0x0a, 0x00, 0x0b, 0x00, 0x0c, 0x00, 0x0d, 0x00, //channel 11..14
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0x84, 0xff}; //checksum
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for (size_t i=0; i < sizeof(packet_half); i++) {
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EXPECT_EQ(RX_FRAME_PENDING, rxRuntimeConfig.rcFrameStatusFn());
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stub_serialRxCallback(packet_half[i]);
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}
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microseconds_stub_value += 5000;
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EXPECT_EQ(RX_FRAME_PENDING, rxRuntimeConfig.rcFrameStatusFn());
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for (size_t i=0; i < sizeof(packet_full); i++) {
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EXPECT_EQ(RX_FRAME_PENDING, rxRuntimeConfig.rcFrameStatusFn());
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stub_serialRxCallback(packet_full[i]);
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}
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//report frame complete once
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EXPECT_EQ(RX_FRAME_COMPLETE, rxRuntimeConfig.rcFrameStatusFn());
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EXPECT_EQ(RX_FRAME_PENDING, rxRuntimeConfig.rcFrameStatusFn());
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//check that channel values have been updated
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for (int i=0; i<14; i++) {
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ASSERT_EQ(i, rxRuntimeConfig.rcReadRawFn(&rxRuntimeConfig, i));
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}
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}
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TEST_F(IbusRxProtocollUnitTest, Test_IA6_OnePacketReceived)
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{
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uint8_t packet[] = {0x55, //sync character
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0x00, 0x00, 0x01, 0x00, 0x02, 0x00, 0x03, 0x00, 0x04, 0x00, //channel 1..5
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0x05, 0x00, 0x06, 0x00, 0x07, 0x00, 0x08, 0x00, 0x09, 0x00, //channel 6..10
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0x0a, 0x00, 0x0b, 0x00, 0x0c, 0x00, 0x0d, 0x00, //channel 11..14
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0x5b, 0x00}; //checksum
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for (size_t i=0; i < sizeof(packet); i++) {
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EXPECT_EQ(RX_FRAME_PENDING, rxRuntimeConfig.rcFrameStatusFn());
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stub_serialRxCallback(packet[i]);
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}
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//report frame complete once
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EXPECT_EQ(RX_FRAME_COMPLETE, rxRuntimeConfig.rcFrameStatusFn());
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EXPECT_EQ(RX_FRAME_PENDING, rxRuntimeConfig.rcFrameStatusFn());
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//check that channel values have been updated
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for (int i=0; i<14; i++) {
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ASSERT_EQ(i, rxRuntimeConfig.rcReadRawFn(&rxRuntimeConfig, i));
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}
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}
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TEST_F(IbusRxProtocollUnitTest, Test_IA6_OnePacketReceivedBadCrc)
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{
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uint8_t packet[] = {0x55, //sync character
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0x00, 0x33, 0x01, 0x33, 0x02, 0x33, 0x03, 0x33, 0x04, 0x33, //channel 1..5
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0x05, 0x33, 0x06, 0x33, 0x07, 0x33, 0x08, 0x33, 0x09, 0x33, //channel 6..10
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0x0a, 0x33, 0x0b, 0x33, 0x0c, 0x33, 0x0d, 0x33, //channel 11..14
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0x00, 0x00}; //checksum
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for (size_t i=0; i < sizeof(packet); i++) {
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EXPECT_EQ(RX_FRAME_PENDING, rxRuntimeConfig.rcFrameStatusFn());
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stub_serialRxCallback(packet[i]);
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}
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//no frame complete
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EXPECT_EQ(RX_FRAME_PENDING, rxRuntimeConfig.rcFrameStatusFn());
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//check that channel values have not been updated
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for (int i=0; i<14; i++) {
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ASSERT_NE(i + (0x33 << 8), rxRuntimeConfig.rcReadRawFn(&rxRuntimeConfig, i));
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}
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}
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