From a63276d4d8a3a45f0a478995008697b007893c5a Mon Sep 17 00:00:00 2001 From: Andy Piper Date: Wed, 14 Feb 2024 20:41:08 +0000 Subject: [PATCH] AP_RCProtocol: add tests for CRSF and fix protocol test fixed RCProtocolTest on SITL and make it pass/fail with an exit code Co-authored-by: Andrew Tridgell --- .../RCProtocolTest/RCProtocolTest.cpp | 133 +++++++++++++++++- 1 file changed, 129 insertions(+), 4 deletions(-) diff --git a/libraries/AP_RCProtocol/examples/RCProtocolTest/RCProtocolTest.cpp b/libraries/AP_RCProtocol/examples/RCProtocolTest/RCProtocolTest.cpp index 5f9ecea11a159c..851069522560d4 100644 --- a/libraries/AP_RCProtocol/examples/RCProtocolTest/RCProtocolTest.cpp +++ b/libraries/AP_RCProtocol/examples/RCProtocolTest/RCProtocolTest.cpp @@ -19,48 +19,101 @@ #include #include #include +#include #include #include void setup(); void loop(); +class RC_Channel_Example : public RC_Channel {}; + +class RC_Channels_Example : public RC_Channels +{ +public: + RC_Channel_Example obj_channels[NUM_RC_CHANNELS]; + + RC_Channel_Example *channel(const uint8_t chan) override { + if (chan >= NUM_RC_CHANNELS) { + return nullptr; + } + return &obj_channels[chan]; + } + +protected: + int8_t flight_mode_channel_number() const override { return 5; } +}; + +#define RC_CHANNELS_SUBCLASS RC_Channels_Example +#define RC_CHANNEL_SUBCLASS RC_Channel_Example + +#include + +static RC_Channels_Example rchannels; +static AP_SerialManager serial_manager; + const AP_HAL::HAL& hal = AP_HAL::get_HAL(); static AP_VideoTX vtx; // for set_vtx functions static AP_RCProtocol *rcprot; +static uint32_t test_count; +static uint32_t test_failures; + +static void delay_ms(uint32_t ms) +{ +#if CONFIG_HAL_BOARD == HAL_BOARD_SITL + hal.scheduler->stop_clock(AP_HAL::micros64()+ms*1000); +#else + hal.scheduler->delay(ms); +#endif +} + // setup routine void setup() { // introduction hal.console->printf("ArduPilot RC protocol test\n"); - hal.scheduler->delay(100); + delay_ms(100); } static bool check_result(const char *name, bool bytes, const uint16_t *values, uint8_t nvalues) { char label[20]; snprintf(label, 20, "%s(%s)", name, bytes?"bytes":"pulses"); - if (!rcprot->new_input()) { + const bool have_input = rcprot->new_input(); + if (values == nullptr) { + if (have_input) { + printf("%s: got input, none expected\n", label); + return false; + } else { + printf("%s: OK (no input)\n", label); + return true; + } + } + if (!have_input) { printf("%s: No new input\n", label); + test_failures++; return false; } const char *pname = rcprot->protocol_name(); if (strncmp(pname, name, strlen(pname)) != 0) { printf("%s: wrong protocol detected %s\n", label, rcprot->protocol_name()); + test_failures++; return false; } uint8_t n = rcprot->num_channels(); if (n != nvalues) { printf("%s: wrong number of channels %u should be %u\n", label, n, nvalues); + test_failures++; return false; } for (uint8_t i=0; iread(i); if (values[i] != v) { printf("%s: chan %u wrong value %u should be %u\n", label, i+1, v, values[i]); + test_failures++; return false; } } @@ -81,11 +134,11 @@ static bool test_byte_protocol(const char *name, uint32_t baudrate, for (uint8_t repeat=0; repeat 0 && i > 0 && ((i % pause_at) == 0)) { - hal.scheduler->delay(10); + delay_ms(10); } rcprot->process_byte(bytes[i], baudrate); } - hal.scheduler->delay(10); + delay_ms(10); if (repeat > repeats) { ret &= check_result(name, true, values, nvalues); } @@ -202,7 +255,33 @@ static bool test_protocol(const char *name, uint32_t baudrate, return ret; } +/* + test a protocol handler where we only expected byte input to work + */ +static bool test_protocol_bytesonly(const char *name, uint32_t baudrate, + const uint8_t *bytes, uint8_t nbytes, + const uint16_t *values, uint8_t nvalues, + uint8_t repeats=1, + int8_t pause_at=0, + bool inverted=false) +{ + bool ret = true; + rcprot = new AP_RCProtocol(); + rcprot->init(); + + ret &= test_byte_protocol(name, baudrate, bytes, nbytes, values, nvalues, repeats, pause_at); + delete rcprot; + + rcprot = new AP_RCProtocol(); + rcprot->init(); + ret &= test_pulse_protocol(name, baudrate, bytes, nbytes, nullptr, 0, repeats, pause_at, inverted); + delete rcprot; + + return ret; +} + //Main loop where the action takes place +#pragma GCC diagnostic error "-Wframe-larger-than=2000" void loop() { const uint8_t srxl_bytes[] = { 0xa5, 0x03, 0x0c, 0x04, 0x2f, 0x6c, 0x10, 0xb4, 0x26, @@ -340,6 +419,35 @@ void loop() // we only decode up to 18ch const uint16_t fport2_24ch_output[] = {1495, 1495, 986, 1495, 982, 1495, 982, 982, 1495, 2006, 982, 1495, 1495, 1495, 1495, 1495, 1495, 1495}; + const uint8_t crsf_bytes[] = {0xC8, 0x14, 0x17, 0x20, 0x03, 0x0C, 0xA0, 0x00, 0xF6, 0xB7, 0x6E, 0x94, 0xFC, + 0x1F, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFE, 0x0F, 0x6E }; + const uint16_t crsf_output[] = {1501, 1500, 989, 1497, 1873, 1136, 2011, 988, 988, 988, 988, 2011, 0, 0, 0, 0, 0, 0}; + // CRSF partial frame followed by full frame + const uint8_t crsf_bad_bytes1[] = {0xC8, 0x14, 0x17, 0x20, 0x03, 0x0C, 0xA0, 0xC8, 0x14, 0x17, 0x20, 0x03, 0x0C, 0xA0, 0x00, 0xF6, 0xB7, 0x6E, 0x94, 0xFC, + 0x1F, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFE, 0x0F, 0x6E }; + const uint16_t crsf_bad_output1[] = {1501, 1500, 989, 1497, 1873, 1136, 2011, 988, 988, 988, 988, 2011, 0, 0, 0, 0, 0, 0}; + // CRSF full frame with bad CRC followed by full frame + const uint8_t crsf_bad_bytes2[] = {0xC8, 0x14, 0x17, 0x20, 0x03, 0x0C, 0xA0, 0x00, 0xF6, 0xB7, 0x6E, 0x94, 0xFC, + 0x1F, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFE, 0x0F, 0x6F, + 0xC8, 0x14, 0x17, 0x20, 0x03, 0x0C, 0xA0, 0x00, 0xF6, 0xB7, 0x6E, 0x94, 0xFC, + 0x1F, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFE, 0x0F, 0x6E }; + const uint16_t crsf_bad_output2[] = {1501, 1500, 989, 1497, 1873, 1136, 2011, 988, 988, 988, 988, 2011, 0, 0, 0, 0, 0, 0}; + + // CRSF with lots of start markers followed by full frame + const uint8_t crsf_bad_bytes3[] = {0xC8, 0x14, 0xC8, 0x14, 0xC8, 0x0C, 0xA0, + 0xC8, 0x14, 0x17, 0x20, 0x03, 0x0C, 0xA0, 0x00, 0xF6, 0xB7, 0x6E, 0x94, 0xFC, + 0x1F, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFE, 0x0F, 0x6E, }; + const uint16_t crsf_bad_output3[] = {1501, 1500, 989, 1497, 1873, 1136, 2011, 988, 988, 988, 988, 2011, 0, 0, 0, 0, 0, 0}; + + // CRSF with a partial frame followed by a full frame + const uint8_t crsf_bad_bytes4[] = { + 0xC8, 0x14, 0x17, 0x20, 0x03, 0x0C, 0xA0, 0x00, 0xF6, 0xB7, 0x6E, 0x94, 0xFC, + 0x1F, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFE, + 0xC8, 0x14, 0x17, 0x20, 0x03, 0x0C, 0xA0, 0x00, 0xF6, 0xB7, 0x6E, 0x94, 0xFC, + 0x1F, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFE, 0x0F, 0x6E }; + const uint16_t crsf_bad_output4[] = {1501, 1500, 989, 1497, 1873, 1136, 2011, 988, 988, 988, 988, 2011, 0, 0, 0, 0, 0, 0}; + + test_protocol("SRXL", 115200, srxl_bytes, sizeof(srxl_bytes), srxl_output, ARRAY_SIZE(srxl_output), 1); test_protocol("SUMD", 115200, sumd_bytes, sizeof(sumd_bytes), sumd_output, ARRAY_SIZE(sumd_output), 1); test_protocol("SUMD2", 115200, sumd_bytes2, sizeof(sumd_bytes2), sumd_output2, ARRAY_SIZE(sumd_output2), 1); @@ -349,6 +457,13 @@ void loop() // SBUS needs 3 repeats to pass the RCProtocol 3 frames test test_protocol("SBUS", 100000, sbus_bytes, sizeof(sbus_bytes), sbus_output, ARRAY_SIZE(sbus_output), 3, 0, true); + // CRSF needs 3 repeats to pass the RCProtocol 3 frames test + test_protocol_bytesonly("CRSF", 416666, crsf_bytes, sizeof(crsf_bytes), crsf_output, ARRAY_SIZE(crsf_output), 3, 0, true); + test_protocol_bytesonly("CRSF2", 416666, crsf_bad_bytes1, sizeof(crsf_bad_bytes1), crsf_bad_output1, ARRAY_SIZE(crsf_bad_output1), 3, 0, true); + test_protocol_bytesonly("CRSF3", 416666, crsf_bad_bytes2, sizeof(crsf_bad_bytes2), crsf_bad_output2, ARRAY_SIZE(crsf_bad_output2), 3, 0, true); + test_protocol_bytesonly("CRSF4", 416666, crsf_bad_bytes3, sizeof(crsf_bad_bytes3), crsf_bad_output3, ARRAY_SIZE(crsf_bad_output3), 3, 0, true); + test_protocol_bytesonly("CRSF5", 416666, crsf_bad_bytes4, sizeof(crsf_bad_bytes4), crsf_bad_output4, ARRAY_SIZE(crsf_bad_output4), 3, 0, true); + // DSM needs 8 repeats, 5 to guess the format, then 3 to pass the RCProtocol 3 frames test test_protocol("DSM1", 115200, dsm_bytes, sizeof(dsm_bytes), dsm_output, ARRAY_SIZE(dsm_output), 9); test_protocol("DSM2", 115200, dsm_bytes2, sizeof(dsm_bytes2), dsm_output2, ARRAY_SIZE(dsm_output2), 9, 16); @@ -363,6 +478,16 @@ void loop() test_protocol("FPORT", 115200, fport_bytes, sizeof(fport_bytes), fport_output, ARRAY_SIZE(fport_output), 3, 0, true); test_protocol("FPORT2_16CH", 115200, fport2_16ch_bytes, sizeof(fport2_16ch_bytes), fport2_16ch_output, ARRAY_SIZE(fport2_16ch_output), 3, 0, true); test_protocol("FPORT2_24CH", 115200, fport2_24ch_bytes, sizeof(fport2_24ch_bytes), fport2_24ch_output, ARRAY_SIZE(fport2_24ch_output), 3, 0, true); + + if (test_count++ == 10) { + if (test_failures == 0) { + printf("Test PASSED\n"); + ::exit(0); + } + printf("Test FAILED - %u failures\n", unsigned(test_failures)); + ::exit(1); + } + printf("Test count %u - %u failures\n", unsigned(test_count), unsigned(test_failures)); } AP_HAL_MAIN();