mirror of https://github.com/ArduPilot/ardupilot
102 lines
2.4 KiB
Plaintext
102 lines
2.4 KiB
Plaintext
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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//
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// Unit tests for the AP_Math polygon code
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//
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#include <FastSerial.h>
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#include <AP_Common.h>
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#include <AP_Math.h>
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#ifdef DESKTOP_BUILD
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// all of this is needed to build with SITL
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#include <DataFlash.h>
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#include <APM_RC.h>
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#include <GCS_MAVLink.h>
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#include <Arduino_Mega_ISR_Registry.h>
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#include <AP_PeriodicProcess.h>
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#include <AP_ADC.h>
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#include <AP_Baro.h>
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#include <AP_Compass.h>
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#include <AP_GPS.h>
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#include <Filter.h>
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#include <SITL.h>
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#include <I2C.h>
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#include <SPI.h>
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#include <AP_Declination.h>
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Arduino_Mega_ISR_Registry isr_registry;
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AP_Baro_BMP085_HIL barometer;
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AP_Compass_HIL compass;
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SITL sitl;
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BetterStream *mavlink_comm_0_port;
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BetterStream *mavlink_comm_1_port;
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mavlink_system_t mavlink_system;
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#endif
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FastSerialPort(Serial, 0);
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static const struct {
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Vector2f wp1, wp2, location;
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bool passed;
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} test_points[] = {
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{ Vector2f(-35.3647759314918, 149.16265692810987),
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Vector2f(-35.36279922658029, 149.16352169591426),
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Vector2f(-35.36214956969903, 149.16461410046492), true },
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{ Vector2f(-35.36438601157189, 149.16613916088568),
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Vector2f(-35.364432558610254, 149.16287313113048),
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Vector2f(-35.36491510034746, 149.16365837225004), false },
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{ Vector2f(0, 0),
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Vector2f(0, 1),
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Vector2f(0, 2), true },
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{ Vector2f(0, 0),
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Vector2f(0, 2),
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Vector2f(0, 1), false },
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{ Vector2f(0, 0),
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Vector2f(1, 0),
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Vector2f(2, 0), true },
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{ Vector2f(0, 0),
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Vector2f(2, 0),
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Vector2f(1, 0), false },
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{ Vector2f(0, 0),
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Vector2f(-1, 1),
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Vector2f(-2, 2), true },
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};
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#define ARRAY_LENGTH(x) (sizeof((x))/sizeof((x)[0]))
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static struct Location location_from_point(Vector2f pt)
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{
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struct Location loc = {0};
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loc.lat = pt.x * 1.0e7;
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loc.lng = pt.y * 1.0e7;
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return loc;
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}
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static void test_passed_waypoint(void)
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{
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Serial.println("waypoint tests starting");
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for (uint8_t i=0; i<ARRAY_LENGTH(test_points); i++) {
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struct Location loc = location_from_point(test_points[i].location);
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struct Location wp1 = location_from_point(test_points[i].wp1);
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struct Location wp2 = location_from_point(test_points[i].wp2);
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if (location_passed_point(loc, wp1, wp2) != test_points[i].passed) {
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Serial.printf("Failed waypoint test %u\n", (unsigned)i);
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return;
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}
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}
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Serial.println("waypoint tests OK");
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}
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/*
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polygon tests
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*/
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void setup(void)
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{
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Serial.begin(115200);
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test_passed_waypoint();
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}
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void
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loop(void)
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{
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}
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