Updated test fixture and some bug fixes as well

include/board.h

@@ -100,7 +100,6 @@ class Board
 
   // RC
   virtual void rc_init(rc_type_t rc_type) = 0;
-  virtual bool rc_lost() = 0;
   virtual bool rc_read(rosflight_firmware::RcStruct * rc) = 0;
 
   // PWM

include/rc.h

@@ -87,6 +87,9 @@ class RC : public ParamListenerInterface
   float read_chan(uint8_t chan);
   bool receive(void);
 
+  // _FAKE_ RC receive. Use set_chan for testing only!
+  uint16_t fake_rx(uint16_t *chan, uint16_t len, bool lost, bool failsafe);
+
 private:
   RcStruct rc_={};
 

src/rc.cpp

@@ -175,7 +175,7 @@ bool RC::check_rc_lost()
   bool failsafe = false;
 
   // If the board reports that we have lost RC, tell the state manager
-  if (RF_.board_.rc_lost()) {
+  if(rc_.frameLost | rc_.failsafeActivated) {
     failsafe = true;
   } else {
     // go into failsafe if we get an invalid RC command for any channel
@@ -285,4 +285,16 @@ bool RC::new_command()
   }
 }
 
+uint16_t RC::fake_rx(uint16_t *chan, uint16_t len, bool lost, bool failsafe) {
+  len = (len<RC_STRUCT_CHANNELS)?len:RC_STRUCT_CHANNELS;
+  for(int i=0;i<len;i++)  rc_.chan[i] = (static_cast<float>(chan[i])-1000.)/1000.;
+  rc_.failsafeActivated = failsafe;
+  rc_.frameLost = lost;
+  rc_.nChan = RC_STRUCT_CHANNELS;
+  rc_.timestamp = RF_.board_.clock_micros();
+  run();
+  return len;
+};
+
+
 } // namespace rosflight_firmware

test/command_manager_test.cpp

@@ -27,6 +27,7 @@ class CommandManagerTest : public ::testing::Test
   ROSflight rf;
   float last_set_rc = 0;
 
+  bool rc_lost=false;
   uint16_t rc_values[8];
   float max_roll, max_pitch, max_yawrate;
 
@@ -44,8 +45,7 @@ class CommandManagerTest : public ::testing::Test
   void SetUp() override
   {
     rf.init();
-    rf.state_manager_.clear_error(
-      rf.state_manager_.state().error_codes); // Clear All Errors to Start
+    rf.state_manager_.clear_error(rf.state_manager_.state().error_codes); // Clear All Errors to Start
     rf.params_.set_param_int(PARAM_CALIBRATE_GYRO_ON_ARM, false);
 
     for (int i = 0; i < 8; i++) { rc_values[i] = 1500; }
@@ -72,7 +72,7 @@ class CommandManagerTest : public ::testing::Test
     while (board.clock_micros() < start_time_us + us) {
       if (board.clock_millis() > last_set_rc + 20) {
         last_set_rc = board.clock_millis();
-        board.set_rc(rc_values);
+        rf.rc_.fake_rx(rc_values,8, rc_lost, false); // the false is for failsafe.
       }
       board.set_imu(dummy_acc, dummy_gyro, board.clock_micros() + 1000);
       rf.run();
@@ -240,7 +240,8 @@ TEST_F(CommandManagerTest, RCOutput)
 
 TEST_F(CommandManagerTest, LoseRCDisarmed)
 {
-  board.set_pwm_lost(true);
+
+  rc_lost = true;
   stepFirmware(50000);
 
   control_t output = rf.command_manager_.combined_control();
@@ -262,9 +263,10 @@ TEST_F(CommandManagerTest, LoseRCDisarmed)
 
 TEST_F(CommandManagerTest, RegainRCDisarmed)
 {
-  board.set_pwm_lost(true);
+  rc_lost = true;
   stepFirmware(40000);
-  board.set_pwm_lost(false);
+
+  rc_lost = false;
   stepFirmware(40000);
 
   EXPECT_EQ(rf.state_manager_.state().error, false);
@@ -277,7 +279,8 @@ TEST_F(CommandManagerTest, LoseRCArmed)
 
   rf.state_manager_.set_event(StateManager::EVENT_REQUEST_ARM);
   EXPECT_EQ(rf.state_manager_.state().armed, true);
-  board.set_pwm_lost(true);
+
+  rc_lost = true;
   stepFirmware(20000);
 
   control_t output = rf.command_manager_.combined_control();
@@ -302,9 +305,11 @@ TEST_F(CommandManagerTest, RegainRCArmed)
   stepFirmware(50000);
   rf.state_manager_.set_event(StateManager::EVENT_REQUEST_ARM);
 
-  board.set_pwm_lost(true);
+
+  rc_lost = true;
   stepFirmware(20000);
-  board.set_pwm_lost(false);
+
+  rc_lost = false;
   stepFirmware(20000);
 
   EXPECT_EQ(rf.state_manager_.state().armed, true);

test/state_machine_test.cpp

@@ -32,7 +32,7 @@ class StateMachineTest : public ::testing::Test
     uint16_t rc_values[8];
     for (int i = 0; i < 8; i++) { rc_values[i] = 1500; }
     rc_values[2] = 1000;
-    board.set_rc(rc_values);
+    rf.rc_.fake_rx(rc_values,8,false,false);
 
     stepFirmware(100000);
   }
@@ -291,7 +291,8 @@ TEST_F(StateMachineTest, ArmIfThrottleLow)
   uint16_t rc_values[8];
   for (int i = 0; i < 8; i++) { rc_values[i] = (i > 3) ? 1000 : 1500; }
   rc_values[2] = 1000;
-  board.set_rc(rc_values);
+  rf.rc_.fake_rx(rc_values,8,false,false);
+
   step_firmware(rf, board, 100);
   rf.state_manager_.set_event(StateManager::EVENT_REQUEST_ARM);
   EXPECT_EQ(true, rf.state_manager_.state().armed);
@@ -303,7 +304,8 @@ TEST_F(StateMachineTest, ArmIfThrottleHighWithMinThrottle)
   uint16_t rc_values[8];
   for (int i = 0; i < 8; i++) { rc_values[i] = (i > 3) ? 1000 : 1500; }
   rc_values[2] = 1500;
-  board.set_rc(rc_values);
+  rf.rc_.fake_rx(rc_values,8,false,false);
+
   step_firmware(rf, board, 100000);
 
   rf.state_manager_.set_event(StateManager::EVENT_REQUEST_ARM);
@@ -317,7 +319,8 @@ TEST_F(StateMachineTest, DontArmIfThrottleHighWithoutMinThrottle)
   uint16_t rc_values[8];
   for (int i = 0; i < 8; i++) { rc_values[i] = (i > 3) ? 1000 : 1500; }
   rc_values[2] = 1500;
-  board.set_rc(rc_values);
+  rf.rc_.fake_rx(rc_values,8,false,false);
+
   step_firmware(rf, board, 100000);
 
   rf.state_manager_.set_event(StateManager::EVENT_REQUEST_ARM);

test/test_board.cpp

@@ -36,16 +36,9 @@
 
 namespace rosflight_firmware
 {
-void testBoard::set_rc(uint16_t * values)
-{
-  for (int i = 0; i < 8; i++) { rc_values[i] = values[i]; }
-  new_rc_ = true;
-}
 
 void testBoard::set_time(uint64_t time_us) { time_us_ = time_us; }
 
-void testBoard::set_pwm_lost(bool lost) { rc_lost_ = lost; }
-
 void testBoard::set_imu(float * acc, float * gyro, uint64_t time_us)
 {
   time_us_ = time_us;
@@ -130,12 +123,9 @@ void testBoard::battery_current_set_multiplier(double multiplier) {}
 // PWM
 // TODO make these deal in normalized (-1 to 1 or 0 to 1) values (not pwm-specific)
 void testBoard::rc_init(rc_type_t rc_type) {(void)rc_type;}
-bool testBoard::rc_lost() { return rc_lost_; }
-
 bool testBoard::rc_read(rosflight_firmware::RcStruct * rc_struct)
 {
-  // ???? what goes here ???
-  return true;
+  return false;
 }
 void testBoard::pwm_write(float * value, uint32_t channels) {}
 void testBoard::pwm_init(const float * rate, uint32_t channels) {}

test/test_board.h

@@ -43,7 +43,6 @@ class testBoard : public Board
   uint16_t rc_values[8] = {1500, 1500, 1000, 1500, 1500, 1500, 1500, 1500};
   bool new_rc_ = false;
   uint64_t time_us_ = 0;
-  bool rc_lost_ = false;
   float acc_[3] = {0, 0, 0};
   float gyro_[3] = {0, 0, 0};
   bool new_imu_ = false;
@@ -95,7 +94,6 @@ class testBoard : public Board
 
   // RC
   void rc_init(rc_type_t rc_type) override;
-  bool rc_lost() override;
   bool rc_read(rosflight_firmware::RcStruct * rc) override;
 
   // PWM
@@ -125,7 +123,6 @@ class testBoard : public Board
   void backup_memory_clear();
 
   void set_imu(float * acc, float * gyro, uint64_t time_us);
-  void set_rc(uint16_t * values);
   void set_time(uint64_t time_us);
   void set_pwm_lost(bool lost);
 };