rc: add unit test for CRSF RC

Also cleanup other RC unit tests
loud-at-heart · Jul 28, 2018 · 1fb5353 · 1fb5353
1 parent 6e24bbb
commit 1fb5353
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Showing 2 changed files with 5,970 additions and 20 deletions.
diff --git a/src/lib/rc/rc_tests/RCTest.cpp b/src/lib/rc/rc_tests/RCTest.cpp
@@ -12,6 +12,7 @@
 #include <lib/rc/dsm.h>
 #include <lib/rc/st24.h>
 #include <lib/rc/sumd.h>
+#include <lib/rc/crsf.h>
 
 #if !defined(CONFIG_ARCH_BOARD_SITL)
 #define TEST_DATA_PATH "/fs/microsd"
@@ -27,6 +28,7 @@ class RCTest : public UnitTest
 	virtual bool run_tests();
 
 private:
+	bool crsfTest();
 	bool dsmTest(const char *filepath, unsigned expected_chancount, unsigned expected_dropcount, unsigned chan0);
 	bool dsmTest10Ch();
 	bool dsmTest12Ch();
@@ -37,6 +39,7 @@ class RCTest : public UnitTest
 
 bool RCTest::run_tests()
 {
+	ut_run_test(crsfTest);
 	ut_run_test(dsmTest10Ch);
 	ut_run_test(dsmTest12Ch);
 	ut_run_test(sbus2Test);
@@ -46,6 +49,92 @@ bool RCTest::run_tests()
 	return (_tests_failed == 0);
 }
 
+bool RCTest::crsfTest()
+{
+	const char *filepath = TEST_DATA_PATH "crsf_rc_channels.txt";
+
+	FILE *fp = fopen(filepath, "rt");
+
+	ut_test(fp);
+	//PX4_INFO("loading data from: %s", filepath);
+
+	const int line_size = 500;
+	char line[line_size];
+	bool has_decoded_values = false;
+	const int max_channels = 16;
+	uint16_t rc_values[max_channels];
+	uint16_t num_values = 0;
+	int line_counter = 1;
+
+	while (fgets(line, line_size, fp) != nullptr)  {
+
+		if (strncmp(line, "INPUT ", 6) == 0) {
+
+			if (has_decoded_values) {
+				PX4_ERR("Parser decoded values that are not in the test file (line=%i)", line_counter);
+				return false;
+			}
+
+			// read the values
+			const char *file_buffer = line + 6;
+			int frame_len = 0;
+			uint8_t frame[300];
+			int offset;
+			int number;
+
+			while (sscanf(file_buffer, "%x, %n", &number, &offset) > 0) {
+				frame[frame_len++] = number;
+				file_buffer += offset;
+			}
+
+			// Pipe the data into the parser
+			hrt_abstime now = hrt_absolute_time();
+
+			bool result = crsf_parse(now, frame, frame_len, rc_values, &num_values, max_channels);
+
+			if (result) {
+				has_decoded_values = true;
+			}
+
+		} else if (strncmp(line, "DECODED ", 8) == 0) {
+
+			if (!has_decoded_values) {
+				PX4_ERR("Test file contains decoded values but the parser did not decode anything (line=%i)", line_counter);
+				return false;
+			}
+
+			// read the values
+			const char *file_buffer = line + 8;
+			int offset;
+			int expected_rc_value;
+			int expected_num_channels = 0;
+
+			while (sscanf(file_buffer, "%x, %n", &expected_rc_value, &offset) > 0) {
+
+				// allow a small difference
+				if (abs(expected_rc_value - (int)rc_values[expected_num_channels]) > 10) {
+					PX4_ERR("File line: %i, channel: %i", line_counter, expected_num_channels);
+					ut_compare("Wrong decoded channel", expected_rc_value, rc_values[expected_num_channels]);
+				}
+
+				file_buffer += offset;
+				++expected_num_channels;
+			}
+
+			if (expected_num_channels != num_values) {
+				PX4_ERR("File line: ", line_counter);
+				ut_compare("Unexpected number of decoded channels", expected_num_channels, num_values);
+			}
+
+			has_decoded_values = false;
+		}
+
+		++line_counter;
+	}
+
+	return true;
+}
+
 bool RCTest::dsmTest10Ch()
 {
 	return dsmTest(TEST_DATA_PATH "dsm_x_data.txt", 10, 6, 1500);
@@ -139,19 +228,7 @@ bool RCTest::sbus2Test()
 	fp = fopen(filepath, "rt");
 
 	ut_test(fp);
-	//warnx("loading data from: %s", filepath);
-
-	// if (argc < 2)
-	// 	errx(1, "Need a filename for the input file");
-
-	//int byte_offset = 7;
-
-	// if (argc > 2) {
-	// 	char* end;
-	// 	byte_offset = strtol(argv[2],&end,10);
-	// }
-
-	//warnx("RUNNING TEST WITH BYTE OFFSET OF: %d", byte_offset);
+	//PX4_INFO("loading data from: %s", filepath);
 
 	float f;
 	unsigned x;
@@ -194,7 +271,7 @@ bool RCTest::sbus2Test()
 					 &sbus_failsafe, &sbus_frame_drop, &sbus_frame_drops, max_channels);
 
 		if (result) {
-			//warnx("decoded packet");
+			//PX4_INFO("decoded packet");
 		}
 
 		// }
@@ -216,7 +293,7 @@ bool RCTest::st24Test()
 {
 	const char *filepath = TEST_DATA_PATH "st24_data.txt";
 
-	//warnx("loading data from: %s", filepath);
+	//PX4_INFO("loading data from: %s", filepath);
 
 	FILE *fp;
 
@@ -243,7 +320,7 @@ bool RCTest::st24Test()
 		}
 
 		if (((f - last_time) * 1000 * 1000) > 3000) {
-			// warnx("FRAME RESET\n\n");
+			// PX4_INFO("FRAME RESET\n\n");
 		}
 
 		uint8_t b = static_cast<uint8_t>(x);
@@ -259,11 +336,11 @@ bool RCTest::st24Test()
 		uint16_t channels[20];
 
 		if (!st24_decode(b, &rssi, &rx_count, &channel_count, channels, sizeof(channels) / sizeof(channels[0]))) {
-			//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++) {
 				//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));
 			}
 		}
 	}
@@ -277,7 +354,7 @@ bool RCTest::sumdTest()
 {
 	const char *filepath = TEST_DATA_PATH "sumd_data.txt";
 
-	//warnx("loading data from: %s", filepath);
+	//PX4_INFO("loading data from: %s", filepath);
 
 	FILE *fp;
 
@@ -304,7 +381,7 @@ bool RCTest::sumdTest()
 		}
 
 		if (((f - last_time) * 1000 * 1000) > 3000) {
-			// warnx("FRAME RESET\n\n");
+			// PX4_INFO("FRAME RESET\n\n");
 		}
 
 		uint8_t b = static_cast<uint8_t>(x);