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AP_Math: enable SITL unit testing

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Josh Henderson 2021-08-20 01:57:41 -04:00 committed by Andrew Tridgell
parent b42a95eb20
commit 0125ae26ac
2 changed files with 19 additions and 1 deletions
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15
libraries/AP_Math/tests/test_math.cpp
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@ -81,8 +81,15 @@ TEST(VectorTest, Rotations)
TEST_ROTATION(ROTATION_ROLL_45, 1, 0, SQRT_2);
TEST_ROTATION(ROTATION_ROLL_315, 1, SQRT_2, 0);
EXPECT_EQ(ROTATION_MAX, rotation_count) << "All rotations are expect to be tested";
TEST_ROTATION(ROTATION_CUSTOM, 1, 1, 1); // TODO look at internal error ?
#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
TEST_ROTATION(ROTATION_CUSTOM, 1, 1, 1);
TEST_ROTATION(ROTATION_MAX, 1, 1, 1);
#elif CONFIG_HAL_BOARD == HAL_BOARD_SITL
Vector3F v {1, 1, 1};
EXPECT_EXIT(v.rotate(ROTATION_CUSTOM), testing::KilledBySignal(SIGABRT), "AP_InternalError::error_t::flow_of_ctrl");
EXPECT_EXIT(v.rotate(ROTATION_MAX), testing::KilledBySignal(SIGABRT), "AP_InternalError::error_t::bad_rotation");
#endif
}
TEST(MathTest, IsZero)
@ -370,8 +377,13 @@ TEST(MathTest, Constrain)
EXPECT_EQ(19.9, constrain_value(19.8, 19.9, 20.1));
EXPECT_EQ(19.9f, constrain_value(19.8f, 19.9f, 20.1f));
#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
EXPECT_EQ(1.0f, constrain_float(nanf("0x4152"), 1.0f, 1.0f));
EXPECT_EQ(1.0f, constrain_value(nanf("0x4152"), 1.0f, 1.0f));
#elif CONFIG_HAL_BOARD == HAL_BOARD_SITL
EXPECT_EXIT(constrain_float(nanf("0x4152"), 1.0f, 1.0f), testing::KilledBySignal(SIGABRT), "AP_InternalError::error_t::cnstring_nan");
EXPECT_EXIT(constrain_value(nanf("0x4152"), 1.0f, 1.0f), testing::KilledBySignal(SIGABRT), "AP_InternalError::error_t::cnstring_nan");
#endif
}
TEST(MathWrapTest, Angle180)
@ -660,6 +672,7 @@ TEST(MathTest, FIXEDWINGTURNRATE)
EXPECT_NEAR(56.187965393066406f, fixedwing_turn_rate(45, 10.0f), accuracy);
}
AP_GTEST_PANIC()
AP_GTEST_MAIN()
#pragma GCC diagnostic pop

5
libraries/AP_Math/tests/test_math_double.cpp
View File

@ -86,7 +86,11 @@ TEST(MathTest, ConstrainDouble)
EXPECT_EQ(19.9, constrain_value(19.8, 19.9, 20.1));
#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
EXPECT_EQ(1.0, constrain_value(nan("0x4152"), 1.0, 1.0));
#elif CONFIG_HAL_BOARD == HAL_BOARD_SITL
EXPECT_EXIT(constrain_value(nan("0x4152"), 1.0, 1.0), testing::KilledBySignal(SIGABRT), "AP_InternalError::error_t::cnstring_nan");
#endif
}
TEST(MathWrapTest, Angle180Double)
@ -232,6 +236,7 @@ TEST(MathTest, NormDouble)
EXPECT_DOUBLE_EQ(norm_6, 13.0);
}
AP_GTEST_PANIC()
AP_GTEST_MAIN()
#pragma GCC diagnostic pop