Expand RC test to 2nd receiver with 12 channels

src/lib/rc/rc_tests/RCTest.cpp

@@ -27,7 +27,9 @@ public:
 	virtual bool run_tests(void);
 
 private:
-	bool dsmTest();
+	bool dsmTest(const char *filepath, unsigned expected_chancount, unsigned expected_dropcount, unsigned chan0);
+	bool dsmTest10Ch();
+	bool dsmTest12Ch();
 	bool sbus2Test();
 	bool st24Test();
 	bool sumdTest();
@@ -35,7 +37,8 @@ private:
 
 bool RCTest::run_tests(void)
 {
-	ut_run_test(dsmTest);
+	ut_run_test(dsmTest10Ch);
+	ut_run_test(dsmTest12Ch);
 	ut_run_test(sbus2Test);
 	ut_run_test(st24Test);
 	ut_run_test(sumdTest);
@@ -43,16 +46,24 @@ bool RCTest::run_tests(void)
 	return (_tests_failed == 0);
 }
 
-bool RCTest::dsmTest(void)
+bool RCTest::dsmTest10Ch()
 {
+	return dsmTest(TEST_DATA_PATH "dsm_x_data.txt", 10, 6, 0);
+}
+
+bool RCTest::dsmTest12Ch()
+{
+	return dsmTest(TEST_DATA_PATH "dsm_x_dx9_data.txt", 12, 11, 1500);
+}
 
-	const char *filepath = TEST_DATA_PATH "dsm_x_data.txt";
+bool RCTest::dsmTest(const char *filepath, unsigned expected_chancount, unsigned expected_dropcount, unsigned chan0)
+{
 
 	FILE *fp;
 	fp = fopen(filepath, "rt");
 
 	ut_test(fp != nullptr);
-	//warnx("loading data from: %s", filepath);
+	//PX4_INFO("loading data from: %s", filepath);
 
 	float f;
 	unsigned x;
@@ -87,15 +98,21 @@ bool RCTest::dsmTest(void)
 					&dsm_11_bit, &dsm_frame_drops, max_channels);
 
 		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++) {
-				//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)) {
-			//warnx("frame dropped, now #%d", (dsm_frame_drops));
+			//PX4_INFO("frame dropped, now #%d", (dsm_frame_drops));
 			last_drop = dsm_frame_drops;
 		}
 
@@ -103,6 +120,8 @@ bool RCTest::dsmTest(void)
 	}
 
 	ut_test(ret == EOF);
+	PX4_INFO("drop: %d", (int)last_drop);
+	ut_test(last_drop == expected_dropcount);
 
 	return true;
 }
@@ -173,7 +192,7 @@ bool RCTest::sbus2Test(void)
 		// }
 
 		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;
 		}
 
@@ -286,11 +305,11 @@ bool RCTest::sumdTest(void)
 
 
 		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++) {
 				//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));
 			}
 		}
 	}