mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-08 17:08:28 -04:00
122 lines
2.5 KiB
C++
122 lines
2.5 KiB
C++
#include <AP_gtest.h>
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#include <AP_HAL/AP_HAL.h>
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#include <AP_Common/Bitmask.h>
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const AP_HAL::HAL& hal = AP_HAL::get_HAL();
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template<int N>
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void bitmask_tests(void)
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{
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Bitmask<N> x;
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EXPECT_EQ(0, x.count());
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EXPECT_EQ(-1, x.first_set());
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x.set(5);
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EXPECT_EQ(1, x.count());
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EXPECT_EQ(5, x.first_set());
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x.clear(5);
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EXPECT_EQ(0, x.count());
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EXPECT_EQ(-1, x.first_set());
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EXPECT_EQ(-1, x.first_set());
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x.set(N-7);
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EXPECT_EQ(N-7, x.first_set());
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x.clear(N-7);
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EXPECT_EQ(-1, x.first_set());
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EXPECT_EQ(-1, x.first_set());
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x.set(0);
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x.set(5);
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x.set(6);
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x.set(N-1);
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EXPECT_EQ(4, x.count());
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EXPECT_EQ(0, x.first_set());
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EXPECT_EQ(0, x.first_set());
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x.clear(0);
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EXPECT_EQ(5, x.first_set());
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EXPECT_EQ(5, x.first_set());
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x.clear(5);
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EXPECT_EQ(6, x.first_set());
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EXPECT_EQ(6, x.first_set());
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x.clear(6);
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EXPECT_EQ(N-1, x.first_set());
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EXPECT_EQ(N-1, x.first_set());
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x.clear(N-1);
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EXPECT_EQ(-1, x.first_set());
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Bitmask<N> x2;
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x2 = x;
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#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
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x.set(N+1);
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#elif CONFIG_HAL_BOARD == HAL_BOARD_SITL
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EXPECT_EXIT(x.set(N+1), testing::KilledBySignal(SIGABRT), "AP_InternalError::error_t::bitmask_range");
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#endif
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for (uint8_t i=0; i<N; i++) {
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EXPECT_EQ(x2.get(i), x.get(i));
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}
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#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
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EXPECT_EQ(x2.get(N+1), x.get(N+1));
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#elif CONFIG_HAL_BOARD == HAL_BOARD_SITL
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EXPECT_EXIT(x2.get(N+1), testing::KilledBySignal(SIGABRT), "AP_InternalError::error_t::bitmask_range");
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#endif
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}
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TEST(Bitmask, Tests)
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{
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bitmask_tests<49>();
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}
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template<int N>
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void bitmask_setall(void)
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{
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Bitmask<N> x;
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EXPECT_EQ(-1, x.first_set());
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EXPECT_EQ(false, x.get(N-4));
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x.setall();
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EXPECT_EQ(0, x.first_set());
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x.clear(0);
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EXPECT_EQ(1, x.first_set());
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x.clear(1);
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EXPECT_EQ(2, x.first_set());
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EXPECT_EQ(true, x.get(N-4));
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EXPECT_EQ(false, x.empty());
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x.clearall();
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EXPECT_EQ(-1, x.first_set());
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EXPECT_EQ(false, x.get(N-4));
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EXPECT_EQ(true, x.empty());
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}
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TEST(Bitmask, SetAll)
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{
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bitmask_setall<49>();
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}
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template<int N>
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void bitmask_assignment(void)
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{
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Bitmask<N> x;
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x.set(0);
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x.set(5);
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x.set(6);
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x.set(N-1);
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Bitmask<N> y;
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y = x;
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x.clear(0);
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EXPECT_EQ(true, y.get(0));
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EXPECT_EQ(true, y.get(5));
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EXPECT_EQ(true, y.get(6));
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EXPECT_EQ(true, y.get(N-1));
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}
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TEST(Bitmask, Assignment)
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{
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bitmask_assignment<49>();
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}
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AP_GTEST_PANIC()
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AP_GTEST_MAIN()
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