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Expand RC test to 2nd receiver with 12 channels

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This commit is contained in:
Lorenz Meier
2016-10-07 20:08:35 +02:00
parent 6f7a5cdf9b
commit f7f406c45d
1 changed files with 30 additions and 11 deletions
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src/lib/rc/rc_tests/RCTest.cpp
+30 -11
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@@ -27,7 +27,9 @@ public:
virtual bool run_tests(void); virtual bool run_tests(void);
private: private:
bool dsmTest(); bool dsmTest(const char *filepath, unsigned expected_chancount, unsigned expected_dropcount, unsigned chan0);
bool dsmTest10Ch();
bool dsmTest12Ch();
bool sbus2Test(); bool sbus2Test();
bool st24Test(); bool st24Test();
bool sumdTest(); bool sumdTest();
@@ -35,7 +37,8 @@ private:
bool RCTest::run_tests(void) bool RCTest::run_tests(void)
{ {
ut_run_test(dsmTest); ut_run_test(dsmTest10Ch);
ut_run_test(dsmTest12Ch);
ut_run_test(sbus2Test); ut_run_test(sbus2Test);
ut_run_test(st24Test); ut_run_test(st24Test);
ut_run_test(sumdTest); ut_run_test(sumdTest);
@@ -43,16 +46,24 @@ bool RCTest::run_tests(void)
return (_tests_failed == 0); return (_tests_failed == 0);
} }
bool RCTest::dsmTest(void) bool RCTest::dsmTest10Ch()
{ {
return dsmTest(TEST_DATA_PATH "dsm_x_data.txt", 10, 6, 0);
}
const char *filepath = TEST_DATA_PATH "dsm_x_data.txt"; bool RCTest::dsmTest12Ch()
{
return dsmTest(TEST_DATA_PATH "dsm_x_dx9_data.txt", 12, 11, 1500);
}
bool RCTest::dsmTest(const char *filepath, unsigned expected_chancount, unsigned expected_dropcount, unsigned chan0)
{
FILE *fp; FILE *fp;
fp = fopen(filepath, "rt"); fp = fopen(filepath, "rt");
ut_test(fp != nullptr); ut_test(fp != nullptr);
//warnx("loading data from: %s", filepath); //PX4_INFO("loading data from: %s", filepath);
float f; float f;
unsigned x; unsigned x;
@@ -87,15 +98,21 @@ bool RCTest::dsmTest(void)
&dsm_11_bit, &dsm_frame_drops, max_channels); &dsm_11_bit, &dsm_frame_drops, max_channels);
if (result) { if (result) {
//warnx("decoded packet with %d channels and %s encoding:", num_values, (dsm_11_bit) ? "11 bit" : "10 bit"); ut_test(num_values == expected_chancount);
if (chan0 > 0) {
ut_test((chan0 - rc_values[0]) < 3);
}
//PX4_INFO("decoded packet with %d channels and %s encoding:", num_values, (dsm_11_bit) ? "11 bit" : "10 bit");
for (unsigned i = 0; i < num_values; i++) { for (unsigned i = 0; i < num_values; i++) {
//printf("chan #%u:\t%d\n", i, (int)rc_values[i]); //PX4_INFO("chan #%u:\t%d", i, (int)rc_values[i]);
} }
} }
if (last_drop != (dsm_frame_drops)) { if (last_drop != (dsm_frame_drops)) {
//warnx("frame dropped, now #%d", (dsm_frame_drops)); //PX4_INFO("frame dropped, now #%d", (dsm_frame_drops));
last_drop = dsm_frame_drops; last_drop = dsm_frame_drops;
} }
@@ -103,6 +120,8 @@ bool RCTest::dsmTest(void)
} }
ut_test(ret == EOF); ut_test(ret == EOF);
PX4_INFO("drop: %d", (int)last_drop);
ut_test(last_drop == expected_dropcount);
return true; return true;
} }
@@ -173,7 +192,7 @@ bool RCTest::sbus2Test(void)
// } // }
if (last_drop != (sbus_frame_drops + sbus_frame_resets)) { if (last_drop != (sbus_frame_drops + sbus_frame_resets)) {
warnx("frame dropped, now #%d", (sbus_frame_drops + sbus_frame_resets)); PX4_WARN("frame dropped, now #%d", (sbus_frame_drops + sbus_frame_resets));
last_drop = sbus_frame_drops + sbus_frame_resets; last_drop = sbus_frame_drops + sbus_frame_resets;
} }
@@ -286,11 +305,11 @@ bool RCTest::sumdTest(void)
if (!sumd_decode(b, &rssi, &rx_count, &channel_count, channels, 32)) { if (!sumd_decode(b, &rssi, &rx_count, &channel_count, channels, 32)) {
//warnx("decoded: %u channels (converted to PPM range)", (unsigned)channel_count); //PX4_INFO("decoded: %u channels (converted to PPM range)", (unsigned)channel_count);
for (unsigned i = 0; i < channel_count; i++) { for (unsigned i = 0; i < channel_count; i++) {
//int16_t val = channels[i]; //int16_t val = channels[i];
//warnx("channel %u: %d 0x%03X", i, static_cast<int>(val), static_cast<int>(val)); //PX4_INFO("channel %u: %d 0x%03X", i, static_cast<int>(val), static_cast<int>(val));
} }
} }
} }