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link_quality_unittest.cc
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link_quality_unittest.cc
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/*
* 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 <stdbool.h>
#include <stdio.h>
#include <string.h>
extern "C" {
#include "platform.h"
#include "build/debug.h"
#include "blackbox/blackbox.h"
#include "blackbox/blackbox_io.h"
#include "common/time.h"
#include "common/crc.h"
#include "common/utils.h"
#include "common/printf.h"
#include "common/streambuf.h"
#include "drivers/max7456_symbols.h"
#include "drivers/persistent.h"
#include "drivers/serial.h"
#include "drivers/system.h"
#include "config/config.h"
#include "fc/core.h"
#include "fc/rc_controls.h"
#include "fc/rc_modes.h"
#include "fc/runtime_config.h"
#include "flight/mixer.h"
#include "flight/pid.h"
#include "flight/imu.h"
#include "io/beeper.h"
#include "io/gps.h"
#include "io/serial.h"
#include "osd/osd.h"
#include "osd/osd_elements.h"
#include "pg/pg.h"
#include "pg/pg_ids.h"
#include "pg/rx.h"
#include "rx/rx.h"
#include "sensors/battery.h"
attitudeEulerAngles_t attitude;
pidProfile_t *currentPidProfile;
int16_t rcData[MAX_SUPPORTED_RC_CHANNEL_COUNT];
uint8_t GPS_numSat;
uint16_t GPS_distanceToHome;
int16_t GPS_directionToHome;
uint32_t GPS_distanceFlownInCm;
int32_t GPS_coord[2];
gpsSolutionData_t gpsSol;
float motor[8];
float motorOutputHigh = 2047;
float motorOutputLow = 1000;
acc_t acc;
float accAverage[XYZ_AXIS_COUNT];
PG_REGISTER(batteryConfig_t, batteryConfig, PG_BATTERY_CONFIG, 0);
PG_REGISTER(blackboxConfig_t, blackboxConfig, PG_BLACKBOX_CONFIG, 0);
PG_REGISTER(systemConfig_t, systemConfig, PG_SYSTEM_CONFIG, 0);
PG_REGISTER(pilotConfig_t, pilotConfig, PG_PILOT_CONFIG, 0);
PG_REGISTER(imuConfig_t, imuConfig, PG_IMU_CONFIG, 0);
PG_REGISTER(gpsConfig_t, gpsConfig, PG_GPS_CONFIG, 0);
timeUs_t simulationTime = 0;
void osdRefresh(timeUs_t currentTimeUs);
uint16_t updateLinkQualitySamples(uint16_t value);
uint16_t scaleCrsfLq(uint16_t lqvalue);
#define LINK_QUALITY_SAMPLE_COUNT 16
}
/* #define DEBUG_OSD */
#include "unittest_macros.h"
#include "unittest_displayport.h"
#include "gtest/gtest.h"
extern "C" {
PG_REGISTER(flight3DConfig_t, flight3DConfig, PG_MOTOR_3D_CONFIG, 0);
boxBitmask_t rcModeActivationMask;
int16_t debug[DEBUG16_VALUE_COUNT];
uint8_t debugMode = 0;
uint16_t updateLinkQualitySamples(uint16_t value);
extern uint16_t applyRxChannelRangeConfiguraton(int sample, const rxChannelRangeConfig_t *range);
}
void setDefaultSimulationState()
{
setLinkQualityDirect(LINK_QUALITY_MAX_VALUE);
}
/*
* Performs a test of the OSD actions on arming.
* (reused throughout the test suite)
*/
void doTestArm(bool testEmpty = true)
{
// given
// craft has been armed
ENABLE_ARMING_FLAG(ARMED);
// when
// sufficient OSD updates have been called
osdRefresh(simulationTime);
// then
// arming alert displayed
displayPortTestBufferSubstring(12, 7, "ARMED");
// given
// armed alert times out (0.5 seconds)
simulationTime += 0.5e6;
// when
// sufficient OSD updates have been called
osdRefresh(simulationTime);
// then
// arming alert disappears
#ifdef DEBUG_OSD
displayPortTestPrint();
#endif
if (testEmpty) {
displayPortTestBufferIsEmpty();
}
}
/*
* Auxiliary function. Test is there're stats that must be shown
*/
bool isSomeStatEnabled(void) {
return (osdConfigMutable()->enabled_stats != 0);
}
/*
* Performs a test of the OSD actions on disarming.
* (reused throughout the test suite)
*/
void doTestDisarm()
{
// given
// craft is disarmed after having been armed
DISABLE_ARMING_FLAG(ARMED);
// when
// sufficient OSD updates have been called
osdRefresh(simulationTime);
// then
// post flight statistics displayed
if (isSomeStatEnabled()) {
displayPortTestBufferSubstring(2, 2, " --- STATS ---");
}
}
/*
* Tests initialisation of the OSD and the power on splash screen.
*/
TEST(LQTest, TestInit)
{
// given
// display port is initialised
displayPortTestInit();
// and
// default state values are set
setDefaultSimulationState();
// and
// this battery configuration (used for battery voltage elements)
batteryConfigMutable()->vbatmincellvoltage = 330;
batteryConfigMutable()->vbatmaxcellvoltage = 430;
// when
// OSD is initialised
osdInit(&testDisplayPort);
// then
// display buffer should contain splash screen
displayPortTestBufferSubstring(7, 8, "MENU:THR MID");
displayPortTestBufferSubstring(11, 9, "+ YAW LEFT");
displayPortTestBufferSubstring(11, 10, "+ PITCH UP");
// when
// splash screen timeout has elapsed
simulationTime += 4e6;
osdUpdate(simulationTime);
// then
// display buffer should be empty
#ifdef DEBUG_OSD
displayPortTestPrint();
#endif
displayPortTestBufferIsEmpty();
}
/*
* Tests the Tests the OSD_LINK_QUALITY element updateLinkQualitySamples default LQ_SOURCE_NONE
*/
TEST(LQTest, TestElement_LQ_SOURCE_NONE_SAMPLES)
{
// given
linkQualitySource = LQ_SOURCE_NONE;
osdConfigMutable()->item_pos[OSD_LINK_QUALITY] = OSD_POS(8, 1) | OSD_PROFILE_1_FLAG;
osdConfigMutable()->link_quality_alarm = 0;
osdAnalyzeActiveElements();
// when samples populated 100%
for (int x = 0; x < LINK_QUALITY_SAMPLE_COUNT; x++) {
setLinkQualityDirect(updateLinkQualitySamples(LINK_QUALITY_MAX_VALUE));
}
displayClearScreen(&testDisplayPort);
osdRefresh(simulationTime);
// then
displayPortTestBufferSubstring(8, 1, "%c9", SYM_LINK_QUALITY);
// when updateLinkQualitySamples used 50% rounds to 4
for (int x = 0; x < LINK_QUALITY_SAMPLE_COUNT; x++) {
setLinkQualityDirect(updateLinkQualitySamples(LINK_QUALITY_MAX_VALUE));
setLinkQualityDirect(updateLinkQualitySamples(0));
}
displayClearScreen(&testDisplayPort);
osdRefresh(simulationTime);
// then
displayPortTestBufferSubstring(8, 1, "%c4", SYM_LINK_QUALITY);
}
/*
* Tests the Tests the OSD_LINK_QUALITY element values default LQ_SOURCE_NONE
*/
TEST(LQTest, TestElement_LQ_SOURCE_NONE_VALUES)
{
// given
linkQualitySource = LQ_SOURCE_NONE;
osdConfigMutable()->item_pos[OSD_LINK_QUALITY] = OSD_POS(8, 1) | OSD_PROFILE_1_FLAG;
osdConfigMutable()->link_quality_alarm = 0;
osdAnalyzeActiveElements();
// when LINK_QUALITY_MAX_VALUE to 1 by 10%
uint16_t testscale = 0;
for (int testdigit = 10; testdigit > 0; testdigit--) {
testscale = testdigit * 102.3;
setLinkQualityDirect(testscale);
displayClearScreen(&testDisplayPort);
osdRefresh(simulationTime);
#ifdef DEBUG_OSD
printf("%d %d\n",testscale, testdigit);
displayPortTestPrint();
#endif
// then
if (testdigit >= 10){
displayPortTestBufferSubstring(8, 1,"%c9", SYM_LINK_QUALITY);
}else{
displayPortTestBufferSubstring(8, 1,"%c%1d", SYM_LINK_QUALITY, testdigit - 1);
}
}
}
/*
* Tests the OSD_LINK_QUALITY element LQ RX_PROTOCOL_CRSF.
*/
TEST(LQTest, TestElementLQ_PROTOCOL_CRSF_VALUES)
{
// given
linkQualitySource = LQ_SOURCE_RX_PROTOCOL_CRSF;
osdConfigMutable()->item_pos[OSD_LINK_QUALITY] = OSD_POS(8, 1) | OSD_PROFILE_1_FLAG;
osdConfigMutable()->link_quality_alarm = 0;
osdAnalyzeActiveElements();
displayClearScreen(&testDisplayPort);
osdRefresh(simulationTime);
// crsf setLinkQualityDirect 0-300;
for (uint16_t x = 0; x <= 300; x++) {
// when x scaled
setLinkQualityDirect(scaleCrsfLq(x));
// then rxGetLinkQuality Osd should be x
displayClearScreen(&testDisplayPort);
osdRefresh(simulationTime);
displayPortTestBufferSubstring(8, 1,"%c%3d", SYM_LINK_QUALITY, x);
}
}
/*
* Tests the LQ Alarms
*
*/
TEST(LQTest, TestLQAlarm)
{
// given
// default state is set
setDefaultSimulationState();
linkQualitySource = LQ_SOURCE_NONE;
// and
// the following OSD elements are visible
osdConfigMutable()->item_pos[OSD_LINK_QUALITY] = OSD_POS(8, 1) | OSD_PROFILE_1_FLAG;
// and
// this set of alarm values
osdConfigMutable()->link_quality_alarm = 80;
stateFlags |= GPS_FIX | GPS_FIX_HOME;
osdAnalyzeActiveElements();
// and
// using the metric unit system
osdConfigMutable()->units = OSD_UNIT_METRIC;
// when
// the craft is armed
doTestArm(false);
for (int x = 0; x < LINK_QUALITY_SAMPLE_COUNT; x++) {
setLinkQualityDirect(updateLinkQualitySamples(LINK_QUALITY_MAX_VALUE));
}
// then
// no elements should flash as all values are out of alarm range
for (int i = 0; i < 30; i++) {
// Check for visibility every 100ms, elements should always be visible
simulationTime += 0.1e6;
osdRefresh(simulationTime);
#ifdef DEBUG_OSD
printf("%d\n", i);
#endif
displayPortTestBufferSubstring(8, 1, "%c9", SYM_LINK_QUALITY);
}
setLinkQualityDirect(512);
simulationTime += 60e6;
osdRefresh(simulationTime);
// then
// elements showing values in alarm range should flash
for (int i = 0; i < 15; i++) {
// Blinking should happen at 5Hz
simulationTime += 0.2e6;
osdRefresh(simulationTime);
#ifdef DEBUG_OSD
printf("%d\n", i);
displayPortTestPrint();
#endif
if (i % 2 == 0) {
displayPortTestBufferSubstring(8, 1, "%c5", SYM_LINK_QUALITY);
} else {
displayPortTestBufferIsEmpty();
}
}
doTestDisarm();
simulationTime += 60e6;
osdRefresh(simulationTime);
}
// STUBS
extern "C" {
uint32_t micros() {
return simulationTime;
}
uint32_t microsISR() {
return micros();
}
uint32_t millis() {
return micros() / 1000;
}
bool featureIsEnabled(uint32_t) { return true; }
void beeperConfirmationBeeps(uint8_t) {}
bool isBeeperOn() { return false; }
uint8_t getCurrentPidProfileIndex() { return 0; }
uint8_t getCurrentControlRateProfileIndex() { return 0; }
batteryState_e getBatteryState() { return BATTERY_OK; }
uint8_t getBatteryCellCount() { return 4; }
uint16_t getBatteryVoltage() { return 1680; }
uint16_t getBatteryAverageCellVoltage() { return 420; }
int32_t getAmperage() { return 0; }
int32_t getMAhDrawn() { return 0; }
int32_t getEstimatedAltitudeCm() { return 0; }
int32_t getEstimatedVario() { return 0; }
int32_t blackboxGetLogNumber() { return 0; }
bool isBlackboxDeviceWorking() { return true; }
bool isBlackboxDeviceFull() { return false; }
serialPort_t *openSerialPort(serialPortIdentifier_e, serialPortFunction_e, serialReceiveCallbackPtr, void *, uint32_t, portMode_e, portOptions_e) {return NULL;}
serialPortConfig_t *findSerialPortConfig(serialPortFunction_e ) {return NULL;}
bool telemetryCheckRxPortShared(const serialPortConfig_t *) {return false;}
bool cmsDisplayPortRegister(displayPort_t *) { return false; }
uint16_t getCoreTemperatureCelsius(void) { return 0; }
bool isFlipOverAfterCrashActive(void) { return false; }
float pidItermAccelerator(void) { return 1.0; }
uint8_t getMotorCount(void){ return 4; }
bool areMotorsRunning(void){ return true; }
bool pidOsdAntiGravityActive(void) { return false; }
bool failsafeIsActive(void) { return false; }
bool gpsRescueIsConfigured(void) { return false; }
int8_t calculateThrottlePercent(void) { return 0; }
uint32_t persistentObjectRead(persistentObjectId_e) { return 0; }
void persistentObjectWrite(persistentObjectId_e, uint32_t) {}
void failsafeOnRxSuspend(uint32_t ) {}
void failsafeOnRxResume(void) {}
void featureDisable(uint32_t) { }
bool rxMspFrameComplete(void) { return false; }
bool isPPMDataBeingReceived(void) { return false; }
bool isPWMDataBeingReceived(void) { return false; }
void resetPPMDataReceivedState(void){ }
void failsafeOnValidDataReceived(void) { }
void failsafeOnValidDataFailed(void) { }
void rxPwmInit(rxRuntimeState_t *rxRuntimeState, rcReadRawDataFnPtr *callback)
{
UNUSED(rxRuntimeState);
UNUSED(callback);
}
bool sbusInit(rxConfig_t *initialRxConfig, rxRuntimeState_t *rxRuntimeState, rcReadRawDataFnPtr *callback)
{
UNUSED(initialRxConfig);
UNUSED(rxRuntimeState);
UNUSED(callback);
return true;
}
bool spektrumInit(rxConfig_t *rxConfig, rxRuntimeState_t *rxRuntimeState, rcReadRawDataFnPtr *callback)
{
UNUSED(rxConfig);
UNUSED(rxRuntimeState);
UNUSED(callback);
return true;
}
bool sumdInit(rxConfig_t *rxConfig, rxRuntimeState_t *rxRuntimeState, rcReadRawDataFnPtr *callback)
{
UNUSED(rxConfig);
UNUSED(rxRuntimeState);
UNUSED(callback);
return true;
}
bool sumhInit(rxConfig_t *rxConfig, rxRuntimeState_t *rxRuntimeState, rcReadRawDataFnPtr *callback)
{
UNUSED(rxConfig);
UNUSED(rxRuntimeState);
UNUSED(callback);
return true;
}
bool crsfRxInit(rxConfig_t *rxConfig, rxRuntimeState_t *rxRuntimeState, rcReadRawDataFnPtr *callback);
bool jetiExBusInit(rxConfig_t *rxConfig, rxRuntimeState_t *rxRuntimeState, rcReadRawDataFnPtr *callback)
{
UNUSED(rxConfig);
UNUSED(rxRuntimeState);
UNUSED(callback);
return true;
}
bool ibusInit(rxConfig_t *rxConfig, rxRuntimeState_t *rxRuntimeState, rcReadRawDataFnPtr *callback)
{
UNUSED(rxConfig);
UNUSED(rxRuntimeState);
UNUSED(callback);
return true;
}
bool xBusInit(rxConfig_t *rxConfig, rxRuntimeState_t *rxRuntimeState, rcReadRawDataFnPtr *callback)
{
UNUSED(rxConfig);
UNUSED(rxRuntimeState);
UNUSED(callback);
return true;
}
bool rxMspInit(rxConfig_t *rxConfig, rxRuntimeState_t *rxRuntimeState, rcReadRawDataFnPtr *callback)
{
UNUSED(rxConfig);
UNUSED(rxRuntimeState);
UNUSED(callback);
return true;
}
float pt1FilterGain(float f_cut, float dT)
{
UNUSED(f_cut);
UNUSED(dT);
return 0.0;
}
void pt1FilterInit(pt1Filter_t *filter, float k)
{
UNUSED(filter);
UNUSED(k);
}
float pt1FilterApply(pt1Filter_t *filter, float input)
{
UNUSED(filter);
UNUSED(input);
return 0.0;
}
bool isUpright(void) { return true; }
}