Gtests split into several source files
This commit is contained in:
Damjan Adamic
@@ -0,0 +1,133 @@
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/*
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* Authors (alphabetical order)
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* - Andre Bernet <bernet.andre@gmail.com>
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* - Andreas Weitl
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* - Bertrand Songis <bsongis@gmail.com>
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* - Bryan J. Rentoul (Gruvin) <gruvin@gmail.com>
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* - Cameron Weeks <th9xer@gmail.com>
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* - Erez Raviv
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* - Gabriel Birkus
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* - Jean-Pierre Parisy
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* - Karl Szmutny
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* - Michael Blandford
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* - Michal Hlavinka
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* - Pat Mackenzie
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* - Philip Moss
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* - Rob Thomson
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* - Romolo Manfredini <romolo.manfredini@gmail.com>
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* - Thomas Husterer
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*
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* opentx is based on code named
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* gruvin9x by Bryan J. Rentoul: http://code.google.com/p/gruvin9x/,
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* er9x by Erez Raviv: http://code.google.com/p/er9x/,
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* and the original (and ongoing) project by
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* Thomas Husterer, th9x: http://code.google.com/p/th9x/
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*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License version 2 as
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* published by the Free Software Foundation.
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*
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* This program 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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*/
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#include <QtCore/QDir>
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#include <QtCore/QDebug>
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#include <QtGui/QApplication>
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#include <QtGui/QPainter>
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#include <math.h>
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#include <gtest/gtest.h>
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#define SWAP_DEFINED
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#include "opentx.h"
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#if defined(FRSKY) && !defined(FRSKY_SPORT)
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extern void frskyDProcessPacket(uint8_t *packet);
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TEST(FrSky, gpsNfuel)
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{
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g_model.frsky.usrProto = 1;
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frskyData.hub.gpsFix = 1;
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uint8_t pkt1[] = { 0xfd, 0x07, 0x00, 0x5e, 0x14, 0x2c, 0x00, 0x5e, 0x1c, 0x03 };
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uint8_t pkt2[] = { 0xfd, 0x07, 0x00, 0x00, 0x5e, 0x13, 0x38, 0x0c, 0x5e, 0x1b };
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uint8_t pkt3[] = { 0xfd, 0x07, 0x00, 0xc9, 0x06, 0x5e, 0x23, 0x4e, 0x00, 0x5e };
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uint8_t pkt4[] = { 0xfd, 0x07, 0x00, 0x12, 0xef, 0x2e, 0x5e, 0x1a, 0x98, 0x26 };
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uint8_t pkt5[] = { 0xfd, 0x07, 0x00, 0x5e, 0x22, 0x45, 0x00, 0x5e, 0x11, 0x02 };
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uint8_t pkt6[] = { 0xfd, 0x07, 0x00, 0x00, 0x5e, 0x19, 0x93, 0x00, 0x5e, 0x04 };
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uint8_t pkt7[] = { 0xfd, 0x03, 0x00, 0x64, 0x00, 0x5e };
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frskyDProcessPacket(pkt1);
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frskyDProcessPacket(pkt2);
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frskyDProcessPacket(pkt3);
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frskyDProcessPacket(pkt4);
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frskyDProcessPacket(pkt5);
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frskyDProcessPacket(pkt6);
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frskyDProcessPacket(pkt7);
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EXPECT_EQ(frskyData.hub.gpsCourse_bp, 44);
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EXPECT_EQ(frskyData.hub.gpsCourse_ap, 03);
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EXPECT_EQ(frskyData.hub.gpsLongitude_bp / 100, 120);
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EXPECT_EQ(frskyData.hub.gpsLongitude_bp % 100, 15);
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EXPECT_EQ(frskyData.hub.gpsLongitude_ap, 0x2698);
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EXPECT_EQ(frskyData.hub.gpsLatitudeNS, 'N');
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EXPECT_EQ(frskyData.hub.gpsLongitudeEW, 'E');
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EXPECT_EQ(frskyData.hub.fuelLevel, 100);
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}
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TEST(FrSky, dateNtime)
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{
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uint8_t pkt1[] = { 0xfd, 0x07, 0x00, 0x5e, 0x15, 0x0f, 0x07, 0x5e, 0x16, 0x0b };
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uint8_t pkt2[] = { 0xfd, 0x07, 0x00, 0x00, 0x5e, 0x17, 0x06, 0x12, 0x5e, 0x18 };
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uint8_t pkt3[] = { 0xfd, 0x03, 0x00, 0x32, 0x00, 0x5e };
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frskyDProcessPacket(pkt1);
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frskyDProcessPacket(pkt2);
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frskyDProcessPacket(pkt3);
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EXPECT_EQ(frskyData.hub.day, 15);
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EXPECT_EQ(frskyData.hub.month, 07);
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EXPECT_EQ(frskyData.hub.year, 11);
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EXPECT_EQ(frskyData.hub.hour, 06);
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EXPECT_EQ(frskyData.hub.min, 18);
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EXPECT_EQ(frskyData.hub.sec, 50);
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}
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#endif
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#if defined(FRSKY_SPORT)
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extern bool checkSportPacket(uint8_t *packet);
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TEST(FrSkySPORT, checkCrc)
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{
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// uint8_t pkt[] = { 0x7E, 0x98, 0x10, 0x10, 0x00, 0x7D, 0x5E, 0x02, 0x00, 0x00, 0x5F };
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uint8_t pkt[] = { 0x7E, 0x98, 0x10, 0x10, 0x00, 0x7E, 0x02, 0x00, 0x00, 0x5F };
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EXPECT_EQ(checkSportPacket(pkt+1), true);
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}
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#endif
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#if defined(FRSKY) && defined(CPUARM)
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TEST(FrSky, FrskyValueWithMinAveraging)
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{
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/*
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The following expected[] array is filled
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with values that correspond to 4 elements
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long averaging buffer.
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If length of averaging buffer is changed, this
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values must be adjusted
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*/
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uint8_t expected[] = { 10, 12, 17, 25, 35, 45, 55, 65, 75, 85, 92, 97, 100, 100, 100, 100, 100};
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int testPos = 0;
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//test of averaging
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FrskyValueWithMin testVal;
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testVal.value = 0;
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testVal.set(10);
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EXPECT_EQ(testVal.value, expected[testPos++]);
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for(int n=2; n<10; ++n) {
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testVal.set(n*10);
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EXPECT_EQ(testVal.value, expected[testPos++]);
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}
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for(int n=2; n<10; ++n) {
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testVal.set(100);
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EXPECT_EQ(testVal.value, expected[testPos++]);
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}
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}
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#endif
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File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,193 @@
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/*
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* Authors (alphabetical order)
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* - Andre Bernet <bernet.andre@gmail.com>
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* - Andreas Weitl
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||||
* - Bertrand Songis <bsongis@gmail.com>
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||||
* - Bryan J. Rentoul (Gruvin) <gruvin@gmail.com>
|
||||
* - Cameron Weeks <th9xer@gmail.com>
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* - Erez Raviv
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* - Gabriel Birkus
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* - Jean-Pierre Parisy
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||||
* - Karl Szmutny
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* - Michael Blandford
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* - Michal Hlavinka
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||||
* - Pat Mackenzie
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||||
* - Philip Moss
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||||
* - Rob Thomson
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||||
* - Romolo Manfredini <romolo.manfredini@gmail.com>
|
||||
* - Thomas Husterer
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||||
*
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* opentx is based on code named
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||||
* gruvin9x by Bryan J. Rentoul: http://code.google.com/p/gruvin9x/,
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* er9x by Erez Raviv: http://code.google.com/p/er9x/,
|
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* and the original (and ongoing) project by
|
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* Thomas Husterer, th9x: http://code.google.com/p/th9x/
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*
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* This program is free software; you can redistribute it and/or modify
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||||
* it under the terms of the GNU General Public License version 2 as
|
||||
* published by the Free Software Foundation.
|
||||
*
|
||||
* This program 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.
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||||
*
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*/
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#include <QtCore/QDir>
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#include <QtCore/QDebug>
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#include <QtGui/QApplication>
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#include <QtGui/QPainter>
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#include <math.h>
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#include <gtest/gtest.h>
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#define SWAP_DEFINED
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#include "opentx.h"
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void doPaint(QPainter & p)
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{
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QRgb rgb = qRgb(161, 161, 161);
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p.setBackground(QBrush(rgb));
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p.eraseRect(0, 0, LCD_W, LCD_H);
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if (1) {
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#if !defined(PCBTARANIS)
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rgb = qRgb(0, 0, 0);
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p.setPen(rgb);
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p.setBrush(QBrush(rgb));
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#endif
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#if defined(PCBTARANIS)
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unsigned int previousDepth = 0xFF;
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#endif
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for (int y=0; y<LCD_H; y++) {
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#if defined(PCBTARANIS)
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unsigned int idx = (y/2) * LCD_W;
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#else
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unsigned int idx = (y/8) * LCD_W;
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unsigned int mask = (1 << (y%8));
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#endif
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for (int x=0; x<LCD_W; x++, idx++) {
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#if !defined(PCBTARANIS)
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if (lcd_buf[idx] & mask) {
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p.drawPoint(x, y);
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}
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#else
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unsigned int z = (y & 1) ? (lcd_buf[idx] >> 4) : (lcd_buf[idx] & 0x0F);
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if (z) {
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if (z != previousDepth) {
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previousDepth = z;
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rgb = qRgb(161-(z*161)/15, 161-(z*161)/15, 161-(z*161)/15);
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p.setPen(rgb);
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p.setBrush(QBrush(rgb));
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}
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p.drawPoint(x, y);
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}
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#endif
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}
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}
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}
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}
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bool checkScreenshot(QString test)
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{
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lcdRefresh();
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QImage buffer(LCD_W, LCD_H, QImage::Format_RGB32);
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QPainter p(&buffer);
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doPaint(p);
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QString filename(QString("%1_%2x%3.png").arg(test).arg(LCD_W).arg(LCD_H));
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buffer.save("/tmp/" + filename);
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QFile screenshot("/tmp/" + filename);
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if (!screenshot.open(QIODevice::ReadOnly))
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return false;
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QFile reference("./tests/" + filename);
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if (!reference.open(QIODevice::ReadOnly))
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return false;
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if (reference.readAll() != screenshot.readAll())
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return false;
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screenshot.remove();
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return true;
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}
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TEST(outdezNAtt, test_unsigned)
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{
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lcd_clear();
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lcd_outdezNAtt(0, 0, 65530, LEFT|UNSIGN);
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EXPECT_TRUE(checkScreenshot("unsigned")) << "Unsigned numbers will be bad displayed";
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}
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#if defined(CPUARM)
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TEST(outdezNAtt, testBigNumbers)
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{
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lcd_clear();
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lcd_outdezNAtt(0, 0, 1234567, LEFT);
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lcd_outdezNAtt(0, FH, -1234567, LEFT);
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EXPECT_TRUE(checkScreenshot("big_numbers"));
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}
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#endif // #if defined(CPUARM)
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TEST(Lcd, Invers_0_0)
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{
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lcd_clear();
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lcd_putsAtt(0, 0, "Test", INVERS);
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EXPECT_TRUE(checkScreenshot("invers_0_0"));
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}
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TEST(Lcd, Invers_0_1)
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{
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lcd_clear();
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lcd_putsAtt(0, 1, "Test", INVERS);
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EXPECT_TRUE(checkScreenshot("invers_0_1"));
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}
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TEST(Lcd, Prec2_Left)
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{
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lcd_clear();
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lcd_outdezAtt(0, 0, 2, PREC2|LEFT);
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EXPECT_TRUE(checkScreenshot("prec2_left"));
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}
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TEST(Lcd, Prec2_Right)
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{
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lcd_clear();
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lcd_outdezAtt(LCD_W, LCD_H-FH, 2, PREC2);
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EXPECT_TRUE(checkScreenshot("prec2_right"));
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}
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#if defined(CPUARM)
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TEST(Lcd, Prec1_Dblsize_Invers)
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{
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lcd_clear();
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lcd_outdezAtt(LCD_W, 10, 51, PREC1|DBLSIZE|INVERS);
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EXPECT_TRUE(checkScreenshot("prec1_dblsize_invers"));
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}
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#endif
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TEST(Lcd, Line_Wrap)
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{
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lcd_clear();
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lcd_puts(LCD_W-10, 0, "TEST");
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EXPECT_TRUE(checkScreenshot("line_wrap"));
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}
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#if defined(CPUARM)
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TEST(Lcd, Smlsize_putsStrIdx)
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{
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lcd_clear();
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putsStrIdx(0, 0, "FM", 0, SMLSIZE);
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EXPECT_TRUE(checkScreenshot("smlsize_putsstridx"));
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}
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#endif
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TEST(Lcd, vline)
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{
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lcd_clear();
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for (int x=0; x<100; x+=2) {
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lcd_vline(x, x/2, 12);
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}
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EXPECT_TRUE(checkScreenshot("vline"));
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}
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@@ -0,0 +1,689 @@
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/*
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* Authors (alphabetical order)
|
||||
* - Andre Bernet <bernet.andre@gmail.com>
|
||||
* - Andreas Weitl
|
||||
* - Bertrand Songis <bsongis@gmail.com>
|
||||
* - Bryan J. Rentoul (Gruvin) <gruvin@gmail.com>
|
||||
* - Cameron Weeks <th9xer@gmail.com>
|
||||
* - Erez Raviv
|
||||
* - Gabriel Birkus
|
||||
* - Jean-Pierre Parisy
|
||||
* - Karl Szmutny
|
||||
* - Michael Blandford
|
||||
* - Michal Hlavinka
|
||||
* - Pat Mackenzie
|
||||
* - Philip Moss
|
||||
* - Rob Thomson
|
||||
* - Romolo Manfredini <romolo.manfredini@gmail.com>
|
||||
* - Thomas Husterer
|
||||
*
|
||||
* opentx is based on code named
|
||||
* gruvin9x by Bryan J. Rentoul: http://code.google.com/p/gruvin9x/,
|
||||
* er9x by Erez Raviv: http://code.google.com/p/er9x/,
|
||||
* and the original (and ongoing) project by
|
||||
* Thomas Husterer, th9x: http://code.google.com/p/th9x/
|
||||
*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License version 2 as
|
||||
* published by the Free Software Foundation.
|
||||
*
|
||||
* This program 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.
|
||||
*
|
||||
*/
|
||||
|
||||
#include <QtCore/QDir>
|
||||
#include <QtCore/QDebug>
|
||||
#include <QtGui/QApplication>
|
||||
#include <QtGui/QPainter>
|
||||
#include <math.h>
|
||||
#include <gtest/gtest.h>
|
||||
|
||||
#define SWAP_DEFINED
|
||||
#include "opentx.h"
|
||||
|
||||
#define CHANNEL_MAX (1024*256)
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|
||||
void doMixerCalculations();
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|
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#define MODEL_RESET() \
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memset(&g_model, 0, sizeof(g_model)); \
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extern uint8_t s_mixer_first_run_done; \
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s_mixer_first_run_done = false; \
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lastFlightMode = 255;
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|
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int32_t lastAct = 0;
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void MIXER_RESET()
|
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{
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memset(channelOutputs, 0, sizeof(channelOutputs));
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memset(ex_chans, 0, sizeof(ex_chans));
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memset(act, 0, sizeof(act));
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memset(swOn, 0, sizeof(swOn));
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#if !defined(CPUARM)
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s_last_switch_used = 0;
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s_last_switch_value = 0;
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#endif
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mixerCurrentFlightMode = lastFlightMode = 0;
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lastAct = 0;
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logicalSwitchesReset();
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}
|
||||
|
||||
uint16_t anaInValues[NUM_STICKS+NUM_POTS] = { 0 };
|
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uint16_t anaIn(uint8_t chan)
|
||||
{
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if (chan < NUM_STICKS+NUM_POTS)
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return anaInValues[chan];
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else
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return 0;
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}
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||||
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||||
#if !defined(PCBTARANIS)
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TEST(Trims, greaterTrimLink)
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{
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MODEL_RESET();
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setTrimValue(1, 0, TRIM_EXTENDED_MAX+3); // link to FP3 trim
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||||
setTrimValue(3, 0, 32);
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EXPECT_EQ(getRawTrimValue(getTrimFlightPhase(1, 0), 0), 32);
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||||
}
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||||
|
||||
TEST(Trims, chainedTrims)
|
||||
{
|
||||
MODEL_RESET();
|
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setTrimValue(0, 0, 32);
|
||||
setTrimValue(1, 0, TRIM_EXTENDED_MAX+1); // link to FP0 trim
|
||||
setTrimValue(2, 0, TRIM_EXTENDED_MAX+2); // link to FP1 trim
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||||
EXPECT_EQ(getRawTrimValue(getTrimFlightPhase(0, 2), 0), 32);
|
||||
}
|
||||
|
||||
TEST(Trims, infiniteChainedTrims)
|
||||
{
|
||||
MODEL_RESET();
|
||||
setTrimValue(0, 0, 32);
|
||||
setTrimValue(1, 0, TRIM_EXTENDED_MAX+3); // link to FP3 trim
|
||||
setTrimValue(2, 0, TRIM_EXTENDED_MAX+2); // link to FP1 trim
|
||||
setTrimValue(3, 0, TRIM_EXTENDED_MAX+3); // link to FP2 trim
|
||||
EXPECT_EQ(getRawTrimValue(getTrimFlightPhase(0, 2), 0), 32);
|
||||
}
|
||||
#endif
|
||||
|
||||
TEST(Trims, CopyTrimsToOffset)
|
||||
{
|
||||
MODEL_RESET();
|
||||
modelDefault(0);
|
||||
setTrimValue(0, 1, -100); // -100 on elevator
|
||||
evalFunctions(); // it disables all safety channels
|
||||
copyTrimsToOffset(1);
|
||||
EXPECT_EQ(getTrimValue(0, 1), -100); // unchanged
|
||||
#if defined(CPUARM)
|
||||
EXPECT_EQ(g_model.limitData[1].offset, -195);
|
||||
#else
|
||||
EXPECT_EQ(g_model.limitData[1].offset, -200);
|
||||
#endif
|
||||
}
|
||||
|
||||
TEST(Trims, CopySticksToOffset)
|
||||
{
|
||||
MODEL_RESET();
|
||||
modelDefault(0);
|
||||
anaInValues[ELE_STICK] = -100;
|
||||
perMain();
|
||||
copySticksToOffset(1);
|
||||
EXPECT_EQ(g_model.limitData[1].offset, -97);
|
||||
}
|
||||
|
||||
|
||||
TEST(Curves, LinearIntpol)
|
||||
{
|
||||
MODEL_RESET();
|
||||
for (int8_t i=-2; i<=2; i++) {
|
||||
g_model.points[2+i] = 50*i;
|
||||
}
|
||||
EXPECT_EQ(applyCustomCurve(-1024, 0), -1024);
|
||||
EXPECT_EQ(applyCustomCurve(0, 0), 0);
|
||||
EXPECT_EQ(applyCustomCurve(1024, 0), 1024);
|
||||
EXPECT_EQ(applyCustomCurve(-192, 0), -192);
|
||||
}
|
||||
|
||||
|
||||
#if !defined(CPUARM)
|
||||
TEST(FlightModes, nullFadeOut_posFadeIn)
|
||||
{
|
||||
MODEL_RESET();
|
||||
g_model.flightModeData[1].swtch = SWSRC_ID1;
|
||||
g_model.flightModeData[1].fadeIn = 15;
|
||||
perMain();
|
||||
simuSetSwitch(3, 0);
|
||||
perMain();
|
||||
}
|
||||
|
||||
TEST(Mixer, R2029Comment)
|
||||
{
|
||||
MODEL_RESET();
|
||||
MIXER_RESET();
|
||||
g_model.mixData[0].destCh = 0;
|
||||
g_model.mixData[0].srcRaw = MIXSRC_CH2;
|
||||
g_model.mixData[0].swtch = -SWSRC_THR;
|
||||
g_model.mixData[0].weight = 100;
|
||||
g_model.mixData[1].destCh = 1;
|
||||
g_model.mixData[1].srcRaw = MIXSRC_Thr;
|
||||
g_model.mixData[1].swtch = SWSRC_THR;
|
||||
g_model.mixData[1].weight = 100;
|
||||
anaInValues[THR_STICK] = 1024;
|
||||
simuSetSwitch(0, 1);
|
||||
evalFlightModeMixes(e_perout_mode_normal, 0);
|
||||
EXPECT_EQ(chans[0], 0);
|
||||
EXPECT_EQ(chans[1], CHANNEL_MAX);
|
||||
simuSetSwitch(0, 0);
|
||||
evalFlightModeMixes(e_perout_mode_normal, 0);
|
||||
EXPECT_EQ(chans[0], 0);
|
||||
EXPECT_EQ(chans[1], 0);
|
||||
simuSetSwitch(0, 1);
|
||||
evalFlightModeMixes(e_perout_mode_normal, 0);
|
||||
EXPECT_EQ(chans[0], 0);
|
||||
EXPECT_EQ(chans[1], CHANNEL_MAX);
|
||||
}
|
||||
|
||||
TEST(Mixer, Cascaded3Channels)
|
||||
{
|
||||
MODEL_RESET();
|
||||
MIXER_RESET();
|
||||
g_model.mixData[0].destCh = 0;
|
||||
g_model.mixData[0].srcRaw = MIXSRC_CH2;
|
||||
g_model.mixData[0].weight = 100;
|
||||
g_model.mixData[1].destCh = 1;
|
||||
g_model.mixData[1].srcRaw = MIXSRC_CH3;
|
||||
g_model.mixData[1].weight = 100;
|
||||
g_model.mixData[2].destCh = 2;
|
||||
g_model.mixData[2].srcRaw = MIXSRC_THR;
|
||||
g_model.mixData[2].weight = 100;
|
||||
simuSetSwitch(0, 1);
|
||||
evalFlightModeMixes(e_perout_mode_normal, 0);
|
||||
EXPECT_EQ(chans[0], CHANNEL_MAX);
|
||||
EXPECT_EQ(chans[1], CHANNEL_MAX);
|
||||
EXPECT_EQ(chans[2], CHANNEL_MAX);
|
||||
}
|
||||
|
||||
TEST(Mixer, CascadedOrderedChannels)
|
||||
{
|
||||
MODEL_RESET();
|
||||
MIXER_RESET();
|
||||
g_model.mixData[0].destCh = 0;
|
||||
g_model.mixData[0].srcRaw = MIXSRC_THR;
|
||||
g_model.mixData[0].weight = 100;
|
||||
g_model.mixData[1].destCh = 1;
|
||||
g_model.mixData[1].srcRaw = MIXSRC_CH1;
|
||||
g_model.mixData[1].weight = 100;
|
||||
simuSetSwitch(0, 1);
|
||||
evalFlightModeMixes(e_perout_mode_normal, 0);
|
||||
EXPECT_EQ(chans[0], CHANNEL_MAX);
|
||||
EXPECT_EQ(chans[1], CHANNEL_MAX);
|
||||
}
|
||||
|
||||
TEST(Mixer, Cascaded5Channels)
|
||||
{
|
||||
MODEL_RESET();
|
||||
MIXER_RESET();
|
||||
g_model.mixData[0].destCh = 0;
|
||||
g_model.mixData[0].srcRaw = MIXSRC_CH2;
|
||||
g_model.mixData[0].weight = 100;
|
||||
g_model.mixData[1].destCh = 1;
|
||||
g_model.mixData[1].srcRaw = MIXSRC_CH3;
|
||||
g_model.mixData[1].weight = 100;
|
||||
g_model.mixData[2].destCh = 2;
|
||||
g_model.mixData[2].srcRaw = MIXSRC_CH4;
|
||||
g_model.mixData[2].weight = 100;
|
||||
g_model.mixData[3].destCh = 3;
|
||||
g_model.mixData[3].srcRaw = MIXSRC_CH5;
|
||||
g_model.mixData[3].weight = 100;
|
||||
g_model.mixData[4].destCh = 4;
|
||||
g_model.mixData[4].srcRaw = MIXSRC_THR;
|
||||
g_model.mixData[4].weight = 100;
|
||||
for (uint8_t i=0; i<10; i++) {
|
||||
simuSetSwitch(0, 1);
|
||||
doMixerCalculations();
|
||||
EXPECT_EQ(chans[0], CHANNEL_MAX);
|
||||
EXPECT_EQ(chans[1], CHANNEL_MAX);
|
||||
EXPECT_EQ(chans[2], CHANNEL_MAX);
|
||||
EXPECT_EQ(chans[3], CHANNEL_MAX);
|
||||
EXPECT_EQ(chans[4], CHANNEL_MAX);
|
||||
simuSetSwitch(0, 0);
|
||||
doMixerCalculations();
|
||||
EXPECT_EQ(chans[0], -CHANNEL_MAX);
|
||||
EXPECT_EQ(chans[1], -CHANNEL_MAX);
|
||||
EXPECT_EQ(chans[2], -CHANNEL_MAX);
|
||||
EXPECT_EQ(chans[3], -CHANNEL_MAX);
|
||||
EXPECT_EQ(chans[4], -CHANNEL_MAX);
|
||||
}
|
||||
}
|
||||
#endif
|
||||
|
||||
TEST(Mixer, InfiniteRecursiveChannels)
|
||||
{
|
||||
MODEL_RESET();
|
||||
MIXER_RESET();
|
||||
g_model.mixData[0].destCh = 0;
|
||||
g_model.mixData[0].srcRaw = MIXSRC_CH2;
|
||||
g_model.mixData[0].weight = 100;
|
||||
g_model.mixData[1].destCh = 1;
|
||||
g_model.mixData[1].srcRaw = MIXSRC_CH3;
|
||||
g_model.mixData[1].weight = 100;
|
||||
g_model.mixData[2].destCh = 2;
|
||||
g_model.mixData[2].srcRaw = MIXSRC_CH1;
|
||||
g_model.mixData[2].weight = 100;
|
||||
evalFlightModeMixes(e_perout_mode_normal, 0);
|
||||
EXPECT_EQ(chans[2], 0);
|
||||
EXPECT_EQ(chans[1], 0);
|
||||
EXPECT_EQ(chans[0], 0);
|
||||
}
|
||||
|
||||
TEST(Mixer, BlockingChannel)
|
||||
{
|
||||
MODEL_RESET();
|
||||
MIXER_RESET();
|
||||
g_model.mixData[0].destCh = 0;
|
||||
g_model.mixData[0].srcRaw = MIXSRC_CH1;
|
||||
g_model.mixData[0].weight = 100;
|
||||
evalFlightModeMixes(e_perout_mode_normal, 0);
|
||||
EXPECT_EQ(chans[0], 0);
|
||||
}
|
||||
|
||||
TEST(Mixer, RecursiveAddChannel)
|
||||
{
|
||||
MODEL_RESET();
|
||||
MIXER_RESET();
|
||||
g_model.mixData[0].destCh = 0;
|
||||
g_model.mixData[0].mltpx = MLTPX_ADD;
|
||||
g_model.mixData[0].srcRaw = MIXSRC_MAX;
|
||||
g_model.mixData[0].weight = 50;
|
||||
g_model.mixData[1].destCh = 0;
|
||||
g_model.mixData[1].mltpx = MLTPX_ADD;
|
||||
g_model.mixData[1].srcRaw = MIXSRC_CH2;
|
||||
g_model.mixData[1].weight = 100;
|
||||
g_model.mixData[2].destCh = 1;
|
||||
g_model.mixData[2].srcRaw = MIXSRC_Rud;
|
||||
g_model.mixData[2].weight = 100;
|
||||
evalFlightModeMixes(e_perout_mode_normal, 0);
|
||||
EXPECT_EQ(chans[0], CHANNEL_MAX/2);
|
||||
EXPECT_EQ(chans[1], 0);
|
||||
}
|
||||
|
||||
TEST(Mixer, RecursiveAddChannelAfterInactivePhase)
|
||||
{
|
||||
MODEL_RESET();
|
||||
MIXER_RESET();
|
||||
g_model.flightModeData[1].swtch = SWSRC_ID1;
|
||||
g_model.mixData[0].destCh = 0;
|
||||
g_model.mixData[0].mltpx = MLTPX_ADD;
|
||||
g_model.mixData[0].srcRaw = MIXSRC_CH2;
|
||||
g_model.mixData[0].flightModes = 0b11110;
|
||||
g_model.mixData[0].weight = 50;
|
||||
g_model.mixData[1].destCh = 0;
|
||||
g_model.mixData[1].mltpx = MLTPX_ADD;
|
||||
g_model.mixData[1].srcRaw = MIXSRC_MAX;
|
||||
g_model.mixData[1].flightModes = 0b11101;
|
||||
g_model.mixData[1].weight = 50;
|
||||
g_model.mixData[2].destCh = 1;
|
||||
g_model.mixData[2].srcRaw = MIXSRC_MAX;
|
||||
g_model.mixData[2].weight = 100;
|
||||
simuSetSwitch(3, -1);
|
||||
perMain();
|
||||
EXPECT_EQ(chans[0], CHANNEL_MAX/2);
|
||||
EXPECT_EQ(chans[1], CHANNEL_MAX);
|
||||
simuSetSwitch(3, 0);
|
||||
perMain();
|
||||
EXPECT_EQ(chans[0], CHANNEL_MAX/2);
|
||||
EXPECT_EQ(chans[1], CHANNEL_MAX);
|
||||
}
|
||||
|
||||
#define CHECK_NO_MOVEMENT(channel, value, duration) \
|
||||
for (int i=1; i<=(duration); i++) { \
|
||||
evalFlightModeMixes(e_perout_mode_normal, 1); \
|
||||
EXPECT_EQ(chans[(channel)], (value)); \
|
||||
}
|
||||
|
||||
#define CHECK_SLOW_MOVEMENT(channel, sign, duration) \
|
||||
do { \
|
||||
for (int i=1; i<=(duration); i++) { \
|
||||
evalFlightModeMixes(e_perout_mode_normal, 1); \
|
||||
lastAct = lastAct + (sign) * (1<<19)/500; /* 100 on ARM */ \
|
||||
EXPECT_EQ(chans[(channel)], 256 * (lastAct >> 8)); \
|
||||
} \
|
||||
} while (0)
|
||||
|
||||
#define CHECK_DELAY(channel, duration) \
|
||||
do { \
|
||||
int32_t value = chans[(channel)]; \
|
||||
for (int i=1; i<=(duration); i++) { \
|
||||
evalFlightModeMixes(e_perout_mode_normal, 1); \
|
||||
EXPECT_EQ(chans[(channel)], value); \
|
||||
} \
|
||||
} while (0)
|
||||
|
||||
#if !defined(CPUARM)
|
||||
TEST(Mixer, SlowOnSwitch)
|
||||
{
|
||||
MODEL_RESET();
|
||||
MIXER_RESET();
|
||||
g_model.mixData[0].destCh = 0;
|
||||
g_model.mixData[0].mltpx = MLTPX_ADD;
|
||||
g_model.mixData[0].srcRaw = MIXSRC_MAX;
|
||||
g_model.mixData[0].weight = 100;
|
||||
g_model.mixData[0].swtch = SWSRC_THR;
|
||||
g_model.mixData[0].speedUp = SLOW_STEP*5;
|
||||
g_model.mixData[0].speedDown = SLOW_STEP*5;
|
||||
|
||||
s_mixer_first_run_done = true;
|
||||
|
||||
evalFlightModeMixes(e_perout_mode_normal, 0);
|
||||
EXPECT_EQ(chans[0], 0);
|
||||
|
||||
simuSetSwitch(0, 1);
|
||||
CHECK_SLOW_MOVEMENT(0, +1, 250);
|
||||
|
||||
simuSetSwitch(0, -1);
|
||||
CHECK_SLOW_MOVEMENT(0, -1, 250);
|
||||
}
|
||||
|
||||
TEST(Mixer, SlowUpOnSwitch)
|
||||
{
|
||||
MODEL_RESET();
|
||||
MIXER_RESET();
|
||||
g_model.mixData[0].destCh = 0;
|
||||
g_model.mixData[0].mltpx = MLTPX_ADD;
|
||||
g_model.mixData[0].srcRaw = MIXSRC_MAX;
|
||||
g_model.mixData[0].weight = 100;
|
||||
g_model.mixData[0].swtch = SWSRC_THR;
|
||||
g_model.mixData[0].speedUp = SLOW_STEP*5;
|
||||
g_model.mixData[0].speedDown = 0;
|
||||
|
||||
simuSetSwitch(0, 0);
|
||||
evalFlightModeMixes(e_perout_mode_normal, 0);
|
||||
s_mixer_first_run_done = true;
|
||||
EXPECT_EQ(chans[0], 0);
|
||||
|
||||
simuSetSwitch(0, 1);
|
||||
CHECK_SLOW_MOVEMENT(0, +1, 250);
|
||||
|
||||
simuSetSwitch(0, 0);
|
||||
evalFlightModeMixes(e_perout_mode_normal, 1);
|
||||
EXPECT_EQ(chans[0], 0);
|
||||
|
||||
lastAct = 0;
|
||||
simuSetSwitch(0, 1);
|
||||
CHECK_SLOW_MOVEMENT(0, +1, 100);
|
||||
}
|
||||
#endif
|
||||
|
||||
TEST(Mixer, SlowOnPhase)
|
||||
{
|
||||
MODEL_RESET();
|
||||
MIXER_RESET();
|
||||
g_model.flightModeData[1].swtch = TR(SWSRC_THR, SWSRC_SA0);
|
||||
g_model.mixData[0].destCh = 0;
|
||||
g_model.mixData[0].mltpx = MLTPX_ADD;
|
||||
g_model.mixData[0].srcRaw = MIXSRC_MAX;
|
||||
g_model.mixData[0].weight = 100;
|
||||
g_model.mixData[0].flightModes = 0x2 + 0x4 + 0x8 + 0x10 /*only enabled in phase 0*/;
|
||||
g_model.mixData[0].speedUp = SLOW_STEP*5;
|
||||
g_model.mixData[0].speedDown = SLOW_STEP*5;
|
||||
|
||||
s_mixer_first_run_done = true;
|
||||
mixerCurrentFlightMode = 0;
|
||||
evalFlightModeMixes(e_perout_mode_normal, 0);
|
||||
EXPECT_EQ(chans[0], 0);
|
||||
|
||||
CHECK_SLOW_MOVEMENT(0, +1, 250);
|
||||
|
||||
mixerCurrentFlightMode = 1;
|
||||
CHECK_SLOW_MOVEMENT(0, -1, 250);
|
||||
}
|
||||
|
||||
#if !defined(CPUARM)
|
||||
TEST(Mixer, SlowOnSwitchAndPhase)
|
||||
{
|
||||
MODEL_RESET();
|
||||
MIXER_RESET();
|
||||
g_model.flightModeData[1].swtch = TR(SWSRC_THR, SWSRC_SA0);
|
||||
g_model.mixData[0].destCh = 0;
|
||||
g_model.mixData[0].mltpx = MLTPX_ADD;
|
||||
g_model.mixData[0].srcRaw = MIXSRC_MAX;
|
||||
g_model.mixData[0].weight = 100;
|
||||
g_model.mixData[0].swtch = TR(SWSRC_THR, SWSRC_SA0);
|
||||
#if defined(CPUARM)
|
||||
g_model.mixData[0].flightModes = 0x2 + 0x4 + 0x8 + 0x10 + 0x20 + 0x40 + 0x80 + 0x100 /*only enabled in phase 0*/;
|
||||
#else
|
||||
g_model.mixData[0].flightModes = 0x2 + 0x4 + 0x8 + 0x10 /*only enabled in phase 0*/;
|
||||
#endif
|
||||
g_model.mixData[0].speedUp = SLOW_STEP*5;
|
||||
g_model.mixData[0].speedDown = SLOW_STEP*5;
|
||||
|
||||
s_mixer_first_run_done = true;
|
||||
evalFlightModeMixes(e_perout_mode_normal, 0);
|
||||
EXPECT_EQ(chans[0], 0);
|
||||
|
||||
simuSetSwitch(0, 1);
|
||||
mixerCurrentFlightMode = 0;
|
||||
CHECK_SLOW_MOVEMENT(0, +1, 250);
|
||||
|
||||
simuSetSwitch(0, -1);
|
||||
mixerCurrentFlightMode = 1;
|
||||
CHECK_SLOW_MOVEMENT(0, -1, 250);
|
||||
}
|
||||
#endif
|
||||
|
||||
TEST(Mixer, SlowOnSwitchSource)
|
||||
{
|
||||
MODEL_RESET();
|
||||
MIXER_RESET();
|
||||
g_model.mixData[0].destCh = 0;
|
||||
g_model.mixData[0].mltpx = MLTPX_ADD;
|
||||
g_model.mixData[0].srcRaw = TR(MIXSRC_THR, MIXSRC_SA);
|
||||
g_model.mixData[0].weight = 100;
|
||||
g_model.mixData[0].speedUp = SLOW_STEP*5;
|
||||
g_model.mixData[0].speedDown = SLOW_STEP*5;
|
||||
|
||||
s_mixer_first_run_done = true;
|
||||
|
||||
simuSetSwitch(0, -1);
|
||||
CHECK_SLOW_MOVEMENT(0, -1, 250);
|
||||
EXPECT_EQ(chans[0], -CHANNEL_MAX);
|
||||
|
||||
simuSetSwitch(0, 1);
|
||||
CHECK_SLOW_MOVEMENT(0, +1, 500);
|
||||
}
|
||||
|
||||
TEST(Mixer, SlowDisabledOnStartup)
|
||||
{
|
||||
MODEL_RESET();
|
||||
MIXER_RESET();
|
||||
g_model.mixData[0].destCh = 0;
|
||||
g_model.mixData[0].mltpx = MLTPX_ADD;
|
||||
g_model.mixData[0].srcRaw = MIXSRC_MAX;
|
||||
g_model.mixData[0].weight = 100;
|
||||
g_model.mixData[0].speedUp = SLOW_STEP*5;
|
||||
g_model.mixData[0].speedDown = SLOW_STEP*5;
|
||||
|
||||
evalFlightModeMixes(e_perout_mode_normal, 0);
|
||||
EXPECT_EQ(chans[0], CHANNEL_MAX);
|
||||
}
|
||||
|
||||
#if !defined(CPUARM)
|
||||
TEST(Mixer, SlowAndDelayOnReplace3POSSource)
|
||||
{
|
||||
MODEL_RESET();
|
||||
MIXER_RESET();
|
||||
g_model.mixData[0].destCh = 0;
|
||||
g_model.mixData[0].mltpx = MLTPX_REP;
|
||||
g_model.mixData[0].srcRaw = MIXSRC_3POS;
|
||||
g_model.mixData[0].weight = 100;
|
||||
g_model.mixData[0].delayUp = 10;
|
||||
g_model.mixData[0].speedUp = SLOW_STEP*5;
|
||||
g_model.mixData[0].speedDown = SLOW_STEP*5;
|
||||
|
||||
s_mixer_first_run_done = true;
|
||||
|
||||
simuSetSwitch(3, -1);
|
||||
CHECK_SLOW_MOVEMENT(0, -1, 250);
|
||||
EXPECT_EQ(chans[0], -CHANNEL_MAX);
|
||||
|
||||
simuSetSwitch(3, 0);
|
||||
CHECK_DELAY(0, 500);
|
||||
CHECK_SLOW_MOVEMENT(0, +1, 250/*half course*/);
|
||||
EXPECT_EQ(chans[0], 0);
|
||||
|
||||
simuSetSwitch(3, 1);
|
||||
CHECK_DELAY(0, 500);
|
||||
CHECK_SLOW_MOVEMENT(0, +1, 250);
|
||||
}
|
||||
#endif
|
||||
|
||||
#if !defined(CPUARM)
|
||||
TEST(Mixer, SlowOnSwitchReplace)
|
||||
{
|
||||
MODEL_RESET();
|
||||
MIXER_RESET();
|
||||
g_model.mixData[0].destCh = 0;
|
||||
g_model.mixData[0].mltpx = MLTPX_ADD;
|
||||
g_model.mixData[0].srcRaw = MIXSRC_MAX;
|
||||
g_model.mixData[0].weight = 50;
|
||||
g_model.mixData[1].destCh = 0;
|
||||
g_model.mixData[1].mltpx = MLTPX_REP;
|
||||
g_model.mixData[1].srcRaw = MIXSRC_MAX;
|
||||
g_model.mixData[1].weight = 100;
|
||||
g_model.mixData[1].swtch = SWSRC_THR;
|
||||
g_model.mixData[1].speedDown = SLOW_STEP*5;
|
||||
|
||||
simuSetSwitch(0, 0);
|
||||
evalFlightModeMixes(e_perout_mode_normal, 1);
|
||||
EXPECT_EQ(chans[0], CHANNEL_MAX/2);
|
||||
|
||||
simuSetSwitch(0, 1);
|
||||
evalFlightModeMixes(e_perout_mode_normal, 1);
|
||||
// slow is not applied, but it's better than the first mix not applied at all!
|
||||
EXPECT_EQ(chans[0], CHANNEL_MAX);
|
||||
|
||||
simuSetSwitch(0, 0);
|
||||
evalFlightModeMixes(e_perout_mode_normal, 1);
|
||||
// slow is not applied, but it's better than the first mix not applied at all!
|
||||
EXPECT_EQ(chans[0], CHANNEL_MAX/2);
|
||||
}
|
||||
#endif
|
||||
|
||||
#if !defined(PCBTARANIS)
|
||||
TEST(Mixer, NoTrimOnInactiveMix)
|
||||
{
|
||||
MODEL_RESET();
|
||||
MIXER_RESET();
|
||||
g_model.mixData[0].destCh = 0;
|
||||
g_model.mixData[0].mltpx = MLTPX_ADD;
|
||||
g_model.mixData[0].srcRaw = MIXSRC_Thr;
|
||||
g_model.mixData[0].weight = 100;
|
||||
g_model.mixData[0].swtch = SWSRC_THR;
|
||||
g_model.mixData[0].speedUp = SLOW_STEP*5;
|
||||
g_model.mixData[0].speedDown = SLOW_STEP*5;
|
||||
setTrimValue(0, 2, 256);
|
||||
|
||||
s_mixer_first_run_done = true;
|
||||
|
||||
simuSetSwitch(0, 1);
|
||||
CHECK_SLOW_MOVEMENT(0, 1, 100);
|
||||
|
||||
simuSetSwitch(0, -1);
|
||||
CHECK_SLOW_MOVEMENT(0, -1, 100);
|
||||
}
|
||||
#endif
|
||||
|
||||
TEST(Mixer, SlowOnMultiply)
|
||||
{
|
||||
MODEL_RESET();
|
||||
MIXER_RESET();
|
||||
g_model.mixData[0].destCh = 0;
|
||||
g_model.mixData[0].mltpx = MLTPX_ADD;
|
||||
g_model.mixData[0].srcRaw = MIXSRC_MAX;
|
||||
g_model.mixData[0].weight = 100;
|
||||
g_model.mixData[1].destCh = 0;
|
||||
g_model.mixData[1].mltpx = MLTPX_MUL;
|
||||
g_model.mixData[1].srcRaw = MIXSRC_MAX;
|
||||
g_model.mixData[1].weight = 100;
|
||||
g_model.mixData[1].swtch = TR(SWSRC_THR, SWSRC_SA0);
|
||||
g_model.mixData[1].speedUp = SLOW_STEP*5;
|
||||
g_model.mixData[1].speedDown = SLOW_STEP*5;
|
||||
|
||||
s_mixer_first_run_done = true;
|
||||
|
||||
simuSetSwitch(0, 1);
|
||||
CHECK_SLOW_MOVEMENT(0, 1, 250);
|
||||
|
||||
simuSetSwitch(0, -1);
|
||||
CHECK_NO_MOVEMENT(0, CHANNEL_MAX, 250);
|
||||
|
||||
simuSetSwitch(0, 1);
|
||||
CHECK_NO_MOVEMENT(0, CHANNEL_MAX, 250);
|
||||
}
|
||||
|
||||
|
||||
#if defined(HELI) && defined(PCBTARANIS)
|
||||
TEST(Heli, BasicTest)
|
||||
{
|
||||
MODEL_RESET();
|
||||
applyDefaultTemplate();
|
||||
g_model.swashR.collectiveSource = MIXSRC_Thr;
|
||||
g_model.swashR.type = SWASH_TYPE_120;
|
||||
g_model.mixData[0].destCh = 0;
|
||||
g_model.mixData[0].mltpx = MLTPX_ADD;
|
||||
g_model.mixData[0].srcRaw = MIXSRC_CYC1;
|
||||
g_model.mixData[0].weight = 100;
|
||||
g_model.mixData[1].destCh = 1;
|
||||
g_model.mixData[1].mltpx = MLTPX_ADD;
|
||||
g_model.mixData[1].srcRaw = MIXSRC_CYC2;
|
||||
g_model.mixData[1].weight = 100;
|
||||
g_model.mixData[2].destCh = 2;
|
||||
g_model.mixData[2].mltpx = MLTPX_ADD;
|
||||
g_model.mixData[2].srcRaw = MIXSRC_CYC3;
|
||||
g_model.mixData[2].weight = 100;
|
||||
anaInValues[ELE_STICK] = 1024;
|
||||
evalFlightModeMixes(e_perout_mode_normal, 0);
|
||||
EXPECT_EQ(chans[0], -CHANNEL_MAX);
|
||||
EXPECT_EQ(chans[1], CHANNEL_MAX/2);
|
||||
EXPECT_EQ(chans[2], CHANNEL_MAX/2);
|
||||
}
|
||||
|
||||
TEST(Heli, Mode2Test)
|
||||
{
|
||||
MODEL_RESET();
|
||||
g_eeGeneral.templateSetup = 2;
|
||||
applyDefaultTemplate();
|
||||
g_model.swashR.collectiveSource = MIXSRC_Thr;
|
||||
g_model.swashR.type = SWASH_TYPE_120;
|
||||
g_model.mixData[0].destCh = 0;
|
||||
g_model.mixData[0].mltpx = MLTPX_ADD;
|
||||
g_model.mixData[0].srcRaw = MIXSRC_CYC1;
|
||||
g_model.mixData[0].weight = 100;
|
||||
g_model.mixData[1].destCh = 1;
|
||||
g_model.mixData[1].mltpx = MLTPX_ADD;
|
||||
g_model.mixData[1].srcRaw = MIXSRC_CYC2;
|
||||
g_model.mixData[1].weight = 100;
|
||||
g_model.mixData[2].destCh = 2;
|
||||
g_model.mixData[2].mltpx = MLTPX_ADD;
|
||||
g_model.mixData[2].srcRaw = MIXSRC_CYC3;
|
||||
g_model.mixData[2].weight = 100;
|
||||
anaInValues[ELE_STICK] = 1024;
|
||||
evalFlightModeMixes(e_perout_mode_normal, 0);
|
||||
EXPECT_EQ(chans[0], -CHANNEL_MAX);
|
||||
EXPECT_EQ(chans[1], CHANNEL_MAX/2);
|
||||
EXPECT_EQ(chans[2], CHANNEL_MAX/2);
|
||||
}
|
||||
#elif defined(HELI)
|
||||
TEST(Heli, SimpleTest)
|
||||
{
|
||||
MODEL_RESET();
|
||||
applyTemplate(TMPL_HELI_SETUP);
|
||||
anaInValues[ELE_STICK] = 1024;
|
||||
evalFlightModeMixes(e_perout_mode_normal, 0);
|
||||
EXPECT_EQ(chans[0], -CHANNEL_MAX);
|
||||
EXPECT_EQ(chans[1], CHANNEL_MAX/2);
|
||||
EXPECT_EQ(chans[1], CHANNEL_MAX/2);
|
||||
}
|
||||
#endif
|
||||
@@ -0,0 +1,346 @@
|
||||
/*
|
||||
* Authors (alphabetical order)
|
||||
* - Andre Bernet <bernet.andre@gmail.com>
|
||||
* - Andreas Weitl
|
||||
* - Bertrand Songis <bsongis@gmail.com>
|
||||
* - Bryan J. Rentoul (Gruvin) <gruvin@gmail.com>
|
||||
* - Cameron Weeks <th9xer@gmail.com>
|
||||
* - Erez Raviv
|
||||
* - Gabriel Birkus
|
||||
* - Jean-Pierre Parisy
|
||||
* - Karl Szmutny
|
||||
* - Michael Blandford
|
||||
* - Michal Hlavinka
|
||||
* - Pat Mackenzie
|
||||
* - Philip Moss
|
||||
* - Rob Thomson
|
||||
* - Romolo Manfredini <romolo.manfredini@gmail.com>
|
||||
* - Thomas Husterer
|
||||
*
|
||||
* opentx is based on code named
|
||||
* gruvin9x by Bryan J. Rentoul: http://code.google.com/p/gruvin9x/,
|
||||
* er9x by Erez Raviv: http://code.google.com/p/er9x/,
|
||||
* and the original (and ongoing) project by
|
||||
* Thomas Husterer, th9x: http://code.google.com/p/th9x/
|
||||
*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License version 2 as
|
||||
* published by the Free Software Foundation.
|
||||
*
|
||||
* This program 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.
|
||||
*
|
||||
*/
|
||||
|
||||
#include <QtCore/QDir>
|
||||
#include <QtCore/QDebug>
|
||||
#include <QtGui/QApplication>
|
||||
#include <QtGui/QPainter>
|
||||
#include <math.h>
|
||||
#include <gtest/gtest.h>
|
||||
|
||||
#define SWAP_DEFINED
|
||||
#include "opentx.h"
|
||||
|
||||
#define MODEL_RESET() \
|
||||
memset(&g_model, 0, sizeof(g_model)); \
|
||||
extern uint8_t s_mixer_first_run_done; \
|
||||
s_mixer_first_run_done = false; \
|
||||
lastFlightMode = 255;
|
||||
|
||||
extern void MIXER_RESET();
|
||||
|
||||
#if !defined(PCBTARANIS)
|
||||
TEST(getSwitch, undefCSW)
|
||||
{
|
||||
MODEL_RESET();
|
||||
EXPECT_EQ(getSwitch(NUM_PSWITCH), false);
|
||||
EXPECT_EQ(getSwitch(-NUM_PSWITCH), true); // no good answer there!
|
||||
}
|
||||
#endif
|
||||
|
||||
TEST(getSwitch, circularCSW)
|
||||
{
|
||||
MODEL_RESET();
|
||||
MIXER_RESET();
|
||||
g_model.logicalSw[0] = { SWSRC_SW1, SWSRC_SW1, LS_FUNC_OR };
|
||||
g_model.logicalSw[1] = { SWSRC_SW1, SWSRC_SW1, LS_FUNC_AND };
|
||||
|
||||
evalLogicalSwitches();
|
||||
EXPECT_EQ(getSwitch(SWSRC_SW1), false);
|
||||
EXPECT_EQ(getSwitch(-SWSRC_SW1), true);
|
||||
EXPECT_EQ(getSwitch(SWSRC_SW2), false);
|
||||
EXPECT_EQ(getSwitch(-SWSRC_SW2), true);
|
||||
}
|
||||
|
||||
#if defined(PCBTARANIS)
|
||||
TEST(getSwitch, OldTypeStickyCSW)
|
||||
{
|
||||
MODEL_RESET();
|
||||
MIXER_RESET();
|
||||
g_model.logicalSw[0] = { SWSRC_SA0, 0, 0, LS_FUNC_AND };
|
||||
g_model.logicalSw[1] = { SWSRC_SW1, SWSRC_SW2, 0, LS_FUNC_OR };
|
||||
|
||||
evalLogicalSwitches();
|
||||
EXPECT_EQ(getSwitch(SWSRC_SW1), false);
|
||||
EXPECT_EQ(getSwitch(SWSRC_SW2), false);
|
||||
|
||||
// now trigger SA0, both switches should become true
|
||||
simuSetSwitch(0, -1);
|
||||
evalLogicalSwitches();
|
||||
EXPECT_EQ(getSwitch(SWSRC_SW1), true);
|
||||
EXPECT_EQ(getSwitch(SWSRC_SW2), true);
|
||||
|
||||
// now release SA0 and SW2 should stay true
|
||||
simuSetSwitch(0, 0);
|
||||
evalLogicalSwitches();
|
||||
EXPECT_EQ(getSwitch(SWSRC_SW1), false);
|
||||
EXPECT_EQ(getSwitch(SWSRC_SW2), true);
|
||||
|
||||
// now reset logical switches
|
||||
logicalSwitchesReset();
|
||||
evalLogicalSwitches();
|
||||
EXPECT_EQ(getSwitch(SWSRC_SW1), false);
|
||||
EXPECT_EQ(getSwitch(SWSRC_SW2), false);
|
||||
}
|
||||
#endif // #if defined(PCBTARANIS)
|
||||
|
||||
TEST(getSwitch, nullSW)
|
||||
{
|
||||
MODEL_RESET();
|
||||
EXPECT_EQ(getSwitch(0), true);
|
||||
}
|
||||
|
||||
|
||||
#if defined(PCBTARANIS) && defined(FRSKY)
|
||||
TEST(getSwitch, VfasWithDelay)
|
||||
{
|
||||
MODEL_RESET();
|
||||
MIXER_RESET();
|
||||
memclear(&frskyData, sizeof(frskyData));
|
||||
/*
|
||||
Test for logical switch:
|
||||
L1 Vfas < 9.6 Delay (0.5s)
|
||||
|
||||
(gdb) print Open9xX9D::g_model.logicalSw[0]
|
||||
$3 = {v1 = -40 '\330', v2 = 96, v3 = 0, func = 4 '\004', delay = 5 '\005', duration = 0 '\000', andsw = 0 '\000'}
|
||||
*/
|
||||
g_model.logicalSw[0] = {-40, 96, 0, 4, 5, 0, 0};
|
||||
frskyData.hub.vfas = 150; //unit is 100mV
|
||||
|
||||
//telemetry streaming is FALSE, so L1 should be FALSE no matter what value Vfas has
|
||||
evalLogicalSwitches();
|
||||
EXPECT_EQ(getSwitch(SWSRC_SW1), false);
|
||||
|
||||
logicalSwitchesTimerTick();
|
||||
evalLogicalSwitches();
|
||||
EXPECT_EQ(getSwitch(SWSRC_SW1), false);
|
||||
|
||||
logicalSwitchesTimerTick();
|
||||
evalLogicalSwitches();
|
||||
EXPECT_EQ(getSwitch(SWSRC_SW1), false);
|
||||
|
||||
logicalSwitchesTimerTick();
|
||||
evalLogicalSwitches();
|
||||
EXPECT_EQ(getSwitch(SWSRC_SW1), false);
|
||||
|
||||
logicalSwitchesTimerTick();
|
||||
evalLogicalSwitches();
|
||||
EXPECT_EQ(getSwitch(SWSRC_SW1), false);
|
||||
|
||||
//every logicalSwitchesTimerTick() represents 100ms
|
||||
//so now after 5 ticks we should still have a FALSE value
|
||||
logicalSwitchesTimerTick();
|
||||
evalLogicalSwitches();
|
||||
EXPECT_EQ(getSwitch(SWSRC_SW1), false);
|
||||
|
||||
//now turn on telemetry
|
||||
EXPECT_EQ(TELEMETRY_STREAMING(), false);
|
||||
frskyData.rssi[0].value = 50;
|
||||
EXPECT_EQ(TELEMETRY_STREAMING(), true);
|
||||
|
||||
//vfas is 15.0V so L1 should still be FALSE
|
||||
logicalSwitchesTimerTick();
|
||||
evalLogicalSwitches();
|
||||
EXPECT_EQ(getSwitch(SWSRC_SW1), false);
|
||||
logicalSwitchesTimerTick();
|
||||
logicalSwitchesTimerTick();
|
||||
logicalSwitchesTimerTick();
|
||||
logicalSwitchesTimerTick();
|
||||
logicalSwitchesTimerTick();
|
||||
evalLogicalSwitches();
|
||||
EXPECT_EQ(getSwitch(SWSRC_SW1), false);
|
||||
|
||||
//now reduce vfas to 9.5V and L1 should become TRUE after 0.5s
|
||||
frskyData.hub.vfas = 95;
|
||||
evalLogicalSwitches();
|
||||
|
||||
logicalSwitchesTimerTick();
|
||||
evalLogicalSwitches();
|
||||
EXPECT_EQ(getSwitch(SWSRC_SW1), false);
|
||||
|
||||
logicalSwitchesTimerTick();
|
||||
evalLogicalSwitches();
|
||||
EXPECT_EQ(getSwitch(SWSRC_SW1), false);
|
||||
|
||||
logicalSwitchesTimerTick();
|
||||
evalLogicalSwitches();
|
||||
EXPECT_EQ(getSwitch(SWSRC_SW1), false);
|
||||
|
||||
logicalSwitchesTimerTick();
|
||||
evalLogicalSwitches();
|
||||
EXPECT_EQ(getSwitch(SWSRC_SW1), false);
|
||||
|
||||
logicalSwitchesTimerTick();
|
||||
evalLogicalSwitches();
|
||||
EXPECT_EQ(getSwitch(SWSRC_SW1), true);
|
||||
|
||||
logicalSwitchesTimerTick();
|
||||
logicalSwitchesTimerTick();
|
||||
logicalSwitchesTimerTick();
|
||||
logicalSwitchesTimerTick();
|
||||
evalLogicalSwitches();
|
||||
EXPECT_EQ(getSwitch(SWSRC_SW1), true);
|
||||
|
||||
|
||||
//now stop telemetry, L1 should become FALSE immediatelly
|
||||
frskyData.rssi[0].value = 0;
|
||||
EXPECT_EQ(TELEMETRY_STREAMING(), false);
|
||||
evalLogicalSwitches();
|
||||
|
||||
logicalSwitchesTimerTick();
|
||||
logicalSwitchesTimerTick();
|
||||
logicalSwitchesTimerTick();
|
||||
logicalSwitchesTimerTick();
|
||||
logicalSwitchesTimerTick();
|
||||
evalLogicalSwitches();
|
||||
EXPECT_EQ(getSwitch(SWSRC_SW1), false);
|
||||
}
|
||||
|
||||
TEST(getSwitch, RssiWithDuration)
|
||||
{
|
||||
MODEL_RESET();
|
||||
MIXER_RESET();
|
||||
memclear(&frskyData, sizeof(frskyData));
|
||||
/*
|
||||
Test for logical switch:
|
||||
L1 RSSI > 10 Duration (0.5s)
|
||||
|
||||
(gdb) print Open9xX9D::g_model.logicalSw[0]
|
||||
$1 = {v1 = -56 '\310', v2 = 10, v3 = 0, func = 3 '\003', delay = 0 '\000', duration = 5 '\005', andsw = 0 '\000'}
|
||||
*/
|
||||
g_model.logicalSw[0] = {-56, 10, 0, 3, 0, 5, 0};
|
||||
|
||||
EXPECT_EQ(TELEMETRY_STREAMING(), false);
|
||||
|
||||
evalLogicalSwitches();
|
||||
logicalSwitchesTimerTick();
|
||||
evalLogicalSwitches();
|
||||
EXPECT_EQ(getSwitch(SWSRC_SW1), false);
|
||||
|
||||
logicalSwitchesTimerTick();
|
||||
evalLogicalSwitches();
|
||||
EXPECT_EQ(getSwitch(SWSRC_SW1), false);
|
||||
|
||||
//now set RSSI to 5, L1 should still be FALSE
|
||||
frskyData.rssi[0].value = 5;
|
||||
evalLogicalSwitches();
|
||||
EXPECT_EQ(TELEMETRY_STREAMING(), true);
|
||||
|
||||
logicalSwitchesTimerTick();
|
||||
evalLogicalSwitches();
|
||||
EXPECT_EQ(getSwitch(SWSRC_SW1), false);
|
||||
|
||||
logicalSwitchesTimerTick();
|
||||
evalLogicalSwitches();
|
||||
EXPECT_EQ(getSwitch(SWSRC_SW1), false);
|
||||
|
||||
//now set RSSI to 100, L1 should become TRUE for 0.5s
|
||||
frskyData.rssi[0].value = 100;
|
||||
evalLogicalSwitches();
|
||||
EXPECT_EQ(TELEMETRY_STREAMING(), true);
|
||||
|
||||
logicalSwitchesTimerTick();
|
||||
evalLogicalSwitches();
|
||||
EXPECT_EQ(getSwitch(SWSRC_SW1), true);
|
||||
|
||||
logicalSwitchesTimerTick();
|
||||
evalLogicalSwitches();
|
||||
EXPECT_EQ(getSwitch(SWSRC_SW1), true);
|
||||
|
||||
logicalSwitchesTimerTick();
|
||||
evalLogicalSwitches();
|
||||
EXPECT_EQ(getSwitch(SWSRC_SW1), true);
|
||||
|
||||
logicalSwitchesTimerTick();
|
||||
evalLogicalSwitches();
|
||||
EXPECT_EQ(getSwitch(SWSRC_SW1), true);
|
||||
|
||||
logicalSwitchesTimerTick();
|
||||
evalLogicalSwitches();
|
||||
EXPECT_EQ(getSwitch(SWSRC_SW1), false);
|
||||
|
||||
logicalSwitchesTimerTick();
|
||||
evalLogicalSwitches();
|
||||
EXPECT_EQ(getSwitch(SWSRC_SW1), false);
|
||||
|
||||
//repeat telemetry streaming OFF and ON to test for duration processing
|
||||
frskyData.rssi[0].value = 0;
|
||||
evalLogicalSwitches();
|
||||
EXPECT_EQ(TELEMETRY_STREAMING(), false);
|
||||
|
||||
logicalSwitchesTimerTick();
|
||||
evalLogicalSwitches();
|
||||
EXPECT_EQ(getSwitch(SWSRC_SW1), false);
|
||||
|
||||
//now set RSSI to 100, L1 should become TRUE for 0.5s
|
||||
frskyData.rssi[0].value = 100;
|
||||
evalLogicalSwitches();
|
||||
EXPECT_EQ(TELEMETRY_STREAMING(), true);
|
||||
|
||||
logicalSwitchesTimerTick();
|
||||
evalLogicalSwitches();
|
||||
EXPECT_EQ(getSwitch(SWSRC_SW1), true);
|
||||
|
||||
logicalSwitchesTimerTick();
|
||||
logicalSwitchesTimerTick();
|
||||
logicalSwitchesTimerTick();
|
||||
logicalSwitchesTimerTick();
|
||||
evalLogicalSwitches();
|
||||
EXPECT_EQ(getSwitch(SWSRC_SW1), false);
|
||||
}
|
||||
#endif // #if defined(PCBTARANIS) && defined(FRSKY)
|
||||
|
||||
|
||||
#if !defined(CPUARM)
|
||||
TEST(getSwitch, recursiveSW)
|
||||
{
|
||||
MODEL_RESET();
|
||||
MIXER_RESET();
|
||||
|
||||
g_model.logicalSw[0] = { SWSRC_RUD, -SWSRC_SW2, LS_FUNC_OR };
|
||||
g_model.logicalSw[1] = { SWSRC_ELE, -SWSRC_SW1, LS_FUNC_OR };
|
||||
|
||||
evalLogicalSwitches();
|
||||
EXPECT_EQ(getSwitch(SWSRC_SW1), false);
|
||||
EXPECT_EQ(getSwitch(SWSRC_SW2), true);
|
||||
|
||||
LS_RECURSIVE_EVALUATION_RESET();
|
||||
evalLogicalSwitches();
|
||||
EXPECT_EQ(getSwitch(SWSRC_SW1), false);
|
||||
EXPECT_EQ(getSwitch(SWSRC_SW2), true);
|
||||
|
||||
simuSetSwitch(1, 1);
|
||||
LS_RECURSIVE_EVALUATION_RESET();
|
||||
evalLogicalSwitches();
|
||||
EXPECT_EQ(getSwitch(SWSRC_SW1), true);
|
||||
EXPECT_EQ(getSwitch(SWSRC_SW2), true);
|
||||
|
||||
LS_RECURSIVE_EVALUATION_RESET();
|
||||
evalLogicalSwitches();
|
||||
EXPECT_EQ(getSwitch(SWSRC_SW1), true);
|
||||
EXPECT_EQ(getSwitch(SWSRC_SW2), false);
|
||||
}
|
||||
#endif // #if !defined(CPUARM)
|
||||
Reference in New Issue
Block a user