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edgetx-gx12/radio/src/tests/gtests.cpp
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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)
void doMixerCalculations();
bool checkScreenshot(QString test);
#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;
int32_t lastAct = 0;
void MIXER_RESET()
{
memset(channelOutputs, 0, sizeof(channelOutputs));
memset(ex_chans, 0, sizeof(ex_chans));
memset(act, 0, sizeof(act));
memset(swOn, 0, sizeof(swOn));
#if !defined(CPUARM)
s_last_switch_used = 0;
s_last_switch_value = 0;
#endif
mixerCurrentFlightMode = lastFlightMode = 0;
lastAct = 0;
logicalSwitchesReset();
}
uint16_t anaInValues[NUM_STICKS+NUM_POTS] = { 0 };
uint16_t anaIn(uint8_t chan)
{
if (chan < NUM_STICKS+NUM_POTS)
return anaInValues[chan];
else
return 0;
}
#if !defined(PCBTARANIS)
TEST(Trims, greaterTrimLink)
{
MODEL_RESET();
setTrimValue(1, 0, TRIM_EXTENDED_MAX+3); // link to FP3 trim
setTrimValue(3, 0, 32);
EXPECT_EQ(getRawTrimValue(getTrimFlightPhase(1, 0), 0), 32);
}
TEST(Trims, chainedTrims)
{
MODEL_RESET();
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
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(outdezNAtt, test_unsigned)
{
lcd_clear();
lcd_outdezNAtt(0, 0, 65530, LEFT|UNSIGN);
EXPECT_TRUE(checkScreenshot("unsigned")) << "Unsigned numbers will be bad displayed";
}
#if !defined(PCBSKY9X)
TEST(EEPROM, 100_random_writes)
{
eepromFile = NULL; // in memory
RlcFile f;
uint8_t buf[1000];
uint8_t buf2[1000];
EeFsFormat();
for(int i=0; i<100; i++) {
int size = rand()%800;
for(int j=0; j<size; j++) {
buf[j] = rand() < (RAND_MAX/10000*i) ? 0 : (j&0xff);
}
f.writeRlc(5, 5, buf, size, 100);
// printf("size=%4d red=%4d\n\n\n", size, f.size());
f.openRd(5);
uint16_t n = f.readRlc(buf2,size+1);
EXPECT_EQ(n, size);
EXPECT_EQ(memcmp(buf, buf2, size), 0);
}
}
TEST(EEPROM, test2)
{
eepromFile = NULL; // in memory
RlcFile f;
uint8_t buf[1000];
EeFsFormat();
for(int i=0; i<1000; i++) buf[i]='6'+i%4;
f.writeRlc(6, 6, buf, 300, 100);
f.openRd(6);
uint16_t sz=0;
for(int i=0; i<500; i++){
uint8_t b;
uint16_t n=f.readRlc(&b,1);
if(n) EXPECT_EQ(b, ('6'+sz%4));
sz+=n;
}
EXPECT_EQ(sz, 300);
}
TEST(EEPROM, eeCheckImmediately)
{
eepromFile = NULL; // in memory
// RlcFile f;
uint8_t buf[1000];
EeFsFormat();
for(int i=0; i<1000; i++) buf[i]='6'+i%4;
theFile.writeRlc(6, 6, buf, 300, false);
eeCheck(true);
theFile.openRd(6);
uint16_t sz=0;
for(int i=0; i<500; i++){
uint8_t b;
uint16_t n=theFile.readRlc(&b,1);
if(n) EXPECT_EQ(b, ('6'+sz%4));
sz+=n;
}
EXPECT_EQ(sz, 300);
}
TEST(EEPROM, copy)
{
eepromFile = NULL; // in memory
uint8_t buf[1000];
EeFsFormat();
for(int i=0; i<1000; i++) buf[i]='6'+i%4;
theFile.writeRlc(5, 6, buf, 300, true);
theFile.copy(6, 5);
theFile.openRd(6);
uint16_t sz=0;
for(int i=0; i<500; i++){
uint8_t b;
uint16_t n=theFile.readRlc(&b,1);
if(n) EXPECT_EQ(b, ('6'+sz%4));
sz+=n;
}
EXPECT_EQ(sz, 300);
}
TEST(EEPROM, rm)
{
eepromFile = NULL; // in memory
uint8_t buf[1000];
EeFsFormat();
for(int i=0; i<1000; i++) buf[i]='6'+i%4;
theFile.writeRlc(5, 6, buf, 300, true);
EXPECT_EQ(EFile::exists(5), true);
EFile::rm(5);
EXPECT_EQ(EFile::exists(5), false);
theFile.openRd(5);
uint16_t sz=0;
for(int i=0; i<500; i++){
uint8_t b;
uint16_t n=theFile.readRlc(&b,1);
if(n) EXPECT_EQ(b, ('6'+sz%4));
sz+=n;
}
EXPECT_EQ(sz, 0);
}
#endif
#if defined(FRSKY) && !defined(FRSKY_SPORT)
extern void frskyDProcessPacket(uint8_t *packet);
TEST(FrSky, gpsNfuel)
{
g_model.frsky.usrProto = 1;
frskyData.hub.gpsFix = 1;
uint8_t pkt1[] = { 0xfd, 0x07, 0x00, 0x5e, 0x14, 0x2c, 0x00, 0x5e, 0x1c, 0x03 };
uint8_t pkt2[] = { 0xfd, 0x07, 0x00, 0x00, 0x5e, 0x13, 0x38, 0x0c, 0x5e, 0x1b };
uint8_t pkt3[] = { 0xfd, 0x07, 0x00, 0xc9, 0x06, 0x5e, 0x23, 0x4e, 0x00, 0x5e };
uint8_t pkt4[] = { 0xfd, 0x07, 0x00, 0x12, 0xef, 0x2e, 0x5e, 0x1a, 0x98, 0x26 };
uint8_t pkt5[] = { 0xfd, 0x07, 0x00, 0x5e, 0x22, 0x45, 0x00, 0x5e, 0x11, 0x02 };
uint8_t pkt6[] = { 0xfd, 0x07, 0x00, 0x00, 0x5e, 0x19, 0x93, 0x00, 0x5e, 0x04 };
uint8_t pkt7[] = { 0xfd, 0x03, 0x00, 0x64, 0x00, 0x5e };
frskyDProcessPacket(pkt1);
frskyDProcessPacket(pkt2);
frskyDProcessPacket(pkt3);
frskyDProcessPacket(pkt4);
frskyDProcessPacket(pkt5);
frskyDProcessPacket(pkt6);
frskyDProcessPacket(pkt7);
EXPECT_EQ(frskyData.hub.gpsCourse_bp, 44);
EXPECT_EQ(frskyData.hub.gpsCourse_ap, 03);
EXPECT_EQ(frskyData.hub.gpsLongitude_bp / 100, 120);
EXPECT_EQ(frskyData.hub.gpsLongitude_bp % 100, 15);
EXPECT_EQ(frskyData.hub.gpsLongitude_ap, 0x2698);
EXPECT_EQ(frskyData.hub.gpsLatitudeNS, 'N');
EXPECT_EQ(frskyData.hub.gpsLongitudeEW, 'E');
EXPECT_EQ(frskyData.hub.fuelLevel, 100);
}
TEST(FrSky, dateNtime)
{
uint8_t pkt1[] = { 0xfd, 0x07, 0x00, 0x5e, 0x15, 0x0f, 0x07, 0x5e, 0x16, 0x0b };
uint8_t pkt2[] = { 0xfd, 0x07, 0x00, 0x00, 0x5e, 0x17, 0x06, 0x12, 0x5e, 0x18 };
uint8_t pkt3[] = { 0xfd, 0x03, 0x00, 0x32, 0x00, 0x5e };
frskyDProcessPacket(pkt1);
frskyDProcessPacket(pkt2);
frskyDProcessPacket(pkt3);
EXPECT_EQ(frskyData.hub.day, 15);
EXPECT_EQ(frskyData.hub.month, 07);
EXPECT_EQ(frskyData.hub.year, 11);
EXPECT_EQ(frskyData.hub.hour, 06);
EXPECT_EQ(frskyData.hub.min, 18);
EXPECT_EQ(frskyData.hub.sec, 50);
}
#endif
#if defined(FRSKY_SPORT)
extern bool checkSportPacket(uint8_t *packet);
TEST(FrSkySPORT, checkCrc)
{
// uint8_t pkt[] = { 0x7E, 0x98, 0x10, 0x10, 0x00, 0x7D, 0x5E, 0x02, 0x00, 0x00, 0x5F };
uint8_t pkt[] = { 0x7E, 0x98, 0x10, 0x10, 0x00, 0x7E, 0x02, 0x00, 0x00, 0x5F };
EXPECT_EQ(checkSportPacket(pkt+1), true);
}
#endif
#if defined(FRSKY) && defined(CPUARM)
TEST(FrSky, FrskyValueWithMinAveraging)
{
/*
The following expected[] array is filled
with values that correspond to 4 elements
long averaging buffer.
If length of averaging buffer is changed, this
values must be adjusted
*/
uint8_t expected[] = { 10, 12, 17, 25, 35, 45, 55, 65, 75, 85, 92, 97, 100, 100, 100, 100, 100};
int testPos = 0;
//test of averaging
FrskyValueWithMin testVal;
testVal.value = 0;
testVal.set(10);
EXPECT_EQ(testVal.value, expected[testPos++]);
for(int n=2; n<10; ++n) {
testVal.set(n*10);
EXPECT_EQ(testVal.value, expected[testPos++]);
}
for(int n=2; n<10; ++n) {
testVal.set(100);
EXPECT_EQ(testVal.value, expected[testPos++]);
}
}
#endif
#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(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);
}
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);
}
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(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
void doPaint(QPainter & p)
{
QRgb rgb = qRgb(161, 161, 161);
p.setBackground(QBrush(rgb));
p.eraseRect(0, 0, LCD_W, LCD_H);
if (1) {
#if !defined(PCBTARANIS)
rgb = qRgb(0, 0, 0);
p.setPen(rgb);
p.setBrush(QBrush(rgb));
#endif
#if defined(PCBTARANIS)
unsigned int previousDepth = 0xFF;
#endif
for (int y=0; y<LCD_H; y++) {
#if defined(PCBTARANIS)
unsigned int idx = (y/2) * LCD_W;
#else
unsigned int idx = (y/8) * LCD_W;
unsigned int mask = (1 << (y%8));
#endif
for (int x=0; x<LCD_W; x++, idx++) {
#if !defined(PCBTARANIS)
if (lcd_buf[idx] & mask) {
p.drawPoint(x, y);
}
#else
unsigned int z = (y & 1) ? (lcd_buf[idx] >> 4) : (lcd_buf[idx] & 0x0F);
if (z) {
if (z != previousDepth) {
previousDepth = z;
rgb = qRgb(161-(z*161)/15, 161-(z*161)/15, 161-(z*161)/15);
p.setPen(rgb);
p.setBrush(QBrush(rgb));
}
p.drawPoint(x, y);
}
#endif
}
}
}
}
bool checkScreenshot(QString test)
{
lcdRefresh();
QImage buffer(LCD_W, LCD_H, QImage::Format_RGB32);
QPainter p(&buffer);
doPaint(p);
QString filename(QString("%1_%2x%3.png").arg(test).arg(LCD_W).arg(LCD_H));
buffer.save("/tmp/" + filename);
QFile screenshot("/tmp/" + filename);
if (!screenshot.open(QIODevice::ReadOnly))
return false;
QFile reference("./tests/" + filename);
if (!reference.open(QIODevice::ReadOnly))
return false;
if (reference.readAll() != screenshot.readAll())
return false;
screenshot.remove();
return true;
}
TEST(Lcd, Invers_0_0)
{
lcd_clear();
lcd_putsAtt(0, 0, "Test", INVERS);
EXPECT_TRUE(checkScreenshot("invers_0_0"));
}
TEST(Lcd, Invers_0_1)
{
lcd_clear();
lcd_putsAtt(0, 1, "Test", INVERS);
EXPECT_TRUE(checkScreenshot("invers_0_1"));
}
TEST(Lcd, Prec2_Left)
{
lcd_clear();
lcd_outdezAtt(0, 0, 2, PREC2|LEFT);
EXPECT_TRUE(checkScreenshot("prec2_left"));
}
TEST(Lcd, Prec2_Right)
{
lcd_clear();
lcd_outdezAtt(LCD_W, LCD_H-FH, 2, PREC2);
EXPECT_TRUE(checkScreenshot("prec2_right"));
}
#if defined(CPUARM)
TEST(Lcd, Prec1_Dblsize_Invers)
{
lcd_clear();
lcd_outdezAtt(LCD_W, 10, 51, PREC1|DBLSIZE|INVERS);
EXPECT_TRUE(checkScreenshot("prec1_dblsize_invers"));
}
#endif
TEST(Lcd, Line_Wrap)
{
lcd_clear();
lcd_puts(LCD_W-10, 0, "TEST");
EXPECT_TRUE(checkScreenshot("line_wrap"));
}
#if defined(CPUARM)
TEST(Lcd, Smlsize_putsStrIdx)
{
lcd_clear();
putsStrIdx(0, 0, "FM", 0, SMLSIZE);
EXPECT_TRUE(checkScreenshot("smlsize_putsstridx"));
}
#endif
TEST(Lcd, vline)
{
lcd_clear();
for (int x=0; x<100; x+=2) {
lcd_vline(x, x/2, 12);
}
EXPECT_TRUE(checkScreenshot("vline"));
}
int main(int argc, char **argv)
{
QCoreApplication app(argc, argv);
StartEepromThread(NULL);
g_menuStackPtr = 0;
g_menuStack[0] = menuMainView;
::testing::InitGoogleTest(&argc, argv);
return RUN_ALL_TESTS();
}
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