RCTest.cpp

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#include <unit_test.h>

#include <systemlib/err.h>

#include <stdio.h>
#include <string.h>
#include <unistd.h>

#include <drivers/drv_hrt.h>

#define DSM_DEBUG
#include <lib/rc/sbus.h>
#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_PX4_SITL)
#define TEST_DATA_PATH "./test_data/"
#else
#define TEST_DATA_PATH "/fs/microsd"
#endif

extern "C" __EXPORT int rc_tests_main(int argc, char *argv[]);

class RCTest : public UnitTest
{
public:
    bool run_tests() override;

private:
    bool crsfTest();
    bool dsmTest(const char *filepath, unsigned expected_chancount, unsigned expected_dropcount, unsigned chan0);
    bool dsmTest10Ch();
    bool dsmTest12Ch();
    bool sbus2Test();
    bool st24Test();
    bool sumdTest();
};

bool RCTest::run_tests()
{
    ut_run_test(crsfTest);
    ut_run_test(dsmTest10Ch);
    ut_run_test(dsmTest12Ch);
    ut_run_test(sbus2Test);
    ut_run_test(st24Test);
    ut_run_test(sumdTest);

    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: %d", 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);
}

bool RCTest::dsmTest12Ch()
{
    return dsmTest(TEST_DATA_PATH "dsm_x_dx9_data.txt", 12, 6, 1500);
}

bool RCTest::dsmTest(const char *filepath, unsigned expected_chancount, unsigned expected_dropcount, unsigned chan0)
{

    FILE *fp;
    fp = fopen(filepath, "rt");

    ut_test(fp);
    //PX4_INFO("loading data from: %s", filepath);

    float f;
    unsigned x;
    int ret;

    // Trash the first 20 lines
    for (unsigned i = 0; i < 20; i++) {
        char buf[200];
        (void)fgets(buf, sizeof(buf), fp);
    }

    // Init the parser
    uint8_t frame[30];
    uint16_t rc_values[18];
    uint16_t num_values;
    bool dsm_11_bit;
    unsigned dsm_frame_drops = 0;
    uint16_t max_channels = sizeof(rc_values) / sizeof(rc_values[0]);

    int rate_limiter = 0;
    unsigned last_drop = 0;

    dsm_proto_init();

    while (EOF != (ret = fscanf(fp, "%f,%x,,", &f, &x))) {

        if (ret <= 0) {
            fclose(fp);
            ut_test(ret > 0);
        }

        frame[0] = x;
        unsigned len = 1;

        // Pipe the data into the parser
        bool result = dsm_parse(f * 1e6f, &frame[0], len, rc_values, &num_values,
                    &dsm_11_bit, &dsm_frame_drops, nullptr, max_channels);

        if (result) {
            ut_compare("num_values == expected_chancount", num_values, expected_chancount);

            ut_test(abs((int)chan0 - (int)rc_values[0]) < 30);

            //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++) {
                //PX4_INFO("chan #%u:\t%d", i, (int)rc_values[i]);
            }
        }

        if (last_drop != (dsm_frame_drops)) {
            PX4_INFO("frame dropped, now #%d", (dsm_frame_drops));
            last_drop = dsm_frame_drops;
        }

        rate_limiter++;
    }

    fclose(fp);

    ut_test(ret == EOF);
    PX4_INFO("drop: %d", (int)last_drop);
    ut_test(last_drop == expected_dropcount);

    return true;
}

bool RCTest::sbus2Test()
{
    const char *filepath = TEST_DATA_PATH "sbus2_r7008SB.txt";

    FILE *fp;
    fp = fopen(filepath, "rt");

    ut_test(fp);
    //PX4_INFO("loading data from: %s", filepath);

    float f;
    unsigned x;
    int ret;

    // Trash the first 20 lines
    for (unsigned i = 0; i < 20; i++) {
        char buf[200];
        (void)fgets(buf, sizeof(buf), fp);
    }

    // Init the parser
    uint8_t frame[SBUS_BUFFER_SIZE];
    uint16_t rc_values[18];
    uint16_t num_values;
    unsigned sbus_frame_drops = 0;
    unsigned sbus_frame_resets = 0;
    bool sbus_failsafe;
    bool sbus_frame_drop;
    uint16_t max_channels = sizeof(rc_values) / sizeof(rc_values[0]);

    int rate_limiter = 0;
    unsigned last_drop = 0;

    while (EOF != (ret = fscanf(fp, "%f,%x,,", &f, &x))) {

        if (ret <= 0) {
            fclose(fp);
            ut_test(ret > 0);
        }

        frame[0] = x;
        unsigned len = 1;

        // Pipe the data into the parser
        hrt_abstime now = hrt_absolute_time();

        // if (rate_limiter % byte_offset == 0) {
        bool result = sbus_parse(now, &frame[0], len, rc_values, &num_values,
                     &sbus_failsafe, &sbus_frame_drop, &sbus_frame_drops, max_channels);

        if (result) {
            //PX4_INFO("decoded packet");
        }

        // }

        if (last_drop != (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;
        }

        rate_limiter++;
    }

    ut_test(ret == EOF);

    return true;
}

bool RCTest::st24Test()
{
    const char *filepath = TEST_DATA_PATH "st24_data.txt";

    //PX4_INFO("loading data from: %s", filepath);

    FILE *fp;

    fp = fopen(filepath, "rt");
    ut_test(fp);

    float f;
    unsigned x;
    int ret;

    // Trash the first 20 lines
    for (unsigned i = 0; i < 20; i++) {
        char buf[200];
        (void)fgets(buf, sizeof(buf), fp);
    }

    float last_time = 0;

    while (EOF != (ret = fscanf(fp, "%f,%x,,", &f, &x))) {

        if (ret <= 0) {
            fclose(fp);
            ut_test(ret > 0);
        }

        if (((f - last_time) * 1000 * 1000) > 3000) {
            // PX4_INFO("FRAME RESET\n\n");
        }

        uint8_t b = static_cast<uint8_t>(x);

        last_time = f;

        // Pipe the data into the parser
        //hrt_abstime now = hrt_absolute_time();

        uint8_t rssi;
        uint8_t rx_count;
        uint16_t channel_count;
        uint16_t channels[20];

        if (!st24_decode(b, &rssi, &rx_count, &channel_count, channels, sizeof(channels) / sizeof(channels[0]))) {
            //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];
                //PX4_INFO("channel %u: %d 0x%03X", i, static_cast<int>(val), static_cast<int>(val));
            }
        }
    }

    ut_test(ret == EOF);

    return true;
}

bool RCTest::sumdTest()
{
    const char *filepath = TEST_DATA_PATH "sumd_data.txt";

    //PX4_INFO("loading data from: %s", filepath);

    FILE *fp;

    fp = fopen(filepath, "rt");
    ut_test(fp);

    float f;
    unsigned x;
    int ret;

    // Trash the first 20 lines
    for (unsigned i = 0; i < 20; i++) {
        char buf[200];
        (void)fgets(buf, sizeof(buf), fp);
    }

    float last_time = 0;

    while (EOF != (ret = fscanf(fp, "%f,%x,,", &f, &x))) {

        if (ret <= 0) {
            fclose(fp);
            ut_test(ret > 0);
        }

        if (((f - last_time) * 1000 * 1000) > 3000) {
            // PX4_INFO("FRAME RESET\n\n");
        }

        uint8_t b = static_cast<uint8_t>(x);

        last_time = f;

        // Pipe the data into the parser
        //hrt_abstime now = hrt_absolute_time();

        uint8_t rssi;
        uint8_t rx_count;
        uint16_t channel_count;
        uint16_t channels[32];
        bool sumd_failsafe;


        if (!sumd_decode(b, &rssi, &rx_count, &channel_count, channels, 32, &sumd_failsafe)) {
            //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];
                //PX4_INFO("channel %u: %d 0x%03X", i, static_cast<int>(val), static_cast<int>(val));
            }
        }
    }

    ut_test(ret == EOF);

    return true;
}



ut_declare_test_c(rc_tests_main, RCTest)