From 521cf00964b42dde5cb12d1282475fcfdb0cb0dd Mon Sep 17 00:00:00 2001
From: Thomas Watson <twatson52@icloud.com>
Date: Sun, 7 Jul 2024 14:25:24 -0500
Subject: [PATCH] AP_Common: templatify bitmask tests

Enables testing of different widths and edge cases.
---
 libraries/AP_Common/tests/test_bitmask.cpp | 68 ++++++++++++++--------
 1 file changed, 43 insertions(+), 25 deletions(-)

diff --git a/libraries/AP_Common/tests/test_bitmask.cpp b/libraries/AP_Common/tests/test_bitmask.cpp
index 525ab9dd66..d4b08b7ca7 100644
--- a/libraries/AP_Common/tests/test_bitmask.cpp
+++ b/libraries/AP_Common/tests/test_bitmask.cpp
@@ -5,9 +5,10 @@
 
 const AP_HAL::HAL& hal = AP_HAL::get_HAL();
 
-TEST(Bitmask, Tests)
+template<int N>
+void bitmask_tests(void)
 {
-    Bitmask<49> x;
+    Bitmask<N> x;
     EXPECT_EQ(0, x.count());
     EXPECT_EQ(-1, x.first_set());
     x.set(5);
@@ -18,16 +19,16 @@ TEST(Bitmask, Tests)
     EXPECT_EQ(-1, x.first_set());
 
     EXPECT_EQ(-1, x.first_set());
-    x.set(42);
-    EXPECT_EQ(42, x.first_set());
-    x.clear(42);
+    x.set(N-7);
+    EXPECT_EQ(N-7, x.first_set());
+    x.clear(N-7);
     EXPECT_EQ(-1, x.first_set());
 
     EXPECT_EQ(-1, x.first_set());
     x.set(0);
     x.set(5);
     x.set(6);
-    x.set(48);
+    x.set(N-1);
     EXPECT_EQ(4, x.count());
     EXPECT_EQ(0, x.first_set());
     EXPECT_EQ(0, x.first_set());
@@ -38,65 +39,82 @@ TEST(Bitmask, Tests)
     EXPECT_EQ(6, x.first_set());
     EXPECT_EQ(6, x.first_set());
     x.clear(6);
-    EXPECT_EQ(48, x.first_set());
-    EXPECT_EQ(48, x.first_set());
-    x.clear(48);
+    EXPECT_EQ(N-1, x.first_set());
+    EXPECT_EQ(N-1, x.first_set());
+    x.clear(N-1);
     EXPECT_EQ(-1, x.first_set());
 
-    Bitmask<49> x2;
+    Bitmask<N> x2;
     x2 = x;
 
 #if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
-    x.set(50);
+    x.set(N+1);
 #elif CONFIG_HAL_BOARD == HAL_BOARD_SITL
-    EXPECT_EXIT(x.set(50), testing::KilledBySignal(SIGABRT), "AP_InternalError::error_t::bitmask_range");
+    EXPECT_EXIT(x.set(N+1), testing::KilledBySignal(SIGABRT), "AP_InternalError::error_t::bitmask_range");
 #endif
 
-    for (uint8_t i=0; i<49; i++) {
+    for (uint8_t i=0; i<N; i++) {
         EXPECT_EQ(x2.get(i), x.get(i));
     }
 
 #if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
-    EXPECT_EQ(x2.get(50), x.get(50));
+    EXPECT_EQ(x2.get(N+1), x.get(N+1));
 #elif CONFIG_HAL_BOARD == HAL_BOARD_SITL
-    EXPECT_EXIT(x2.get(50), testing::KilledBySignal(SIGABRT), "AP_InternalError::error_t::bitmask_range");
+    EXPECT_EXIT(x2.get(N+1), testing::KilledBySignal(SIGABRT), "AP_InternalError::error_t::bitmask_range");
 #endif
 }
 
-TEST(Bitmask, SetAll)
+TEST(Bitmask, Tests)
 {
-    Bitmask<49> x;
+    bitmask_tests<49>();
+}
+
+template<int N>
+void bitmask_setall(void)
+{
+    Bitmask<N> x;
     EXPECT_EQ(-1, x.first_set());
-    EXPECT_EQ(false, x.get(45));
+    EXPECT_EQ(false, x.get(N-4));
     x.setall();
     EXPECT_EQ(0, x.first_set());
     x.clear(0);
     EXPECT_EQ(1, x.first_set());
     x.clear(1);
     EXPECT_EQ(2, x.first_set());
-    EXPECT_EQ(true, x.get(45));
+    EXPECT_EQ(true, x.get(N-4));
     EXPECT_EQ(false, x.empty());
     x.clearall();
     EXPECT_EQ(-1, x.first_set());
-    EXPECT_EQ(false, x.get(45));
+    EXPECT_EQ(false, x.get(N-4));
     EXPECT_EQ(true, x.empty());
 }
 
-TEST(Bitmask, Assignment)
+TEST(Bitmask, SetAll)
 {
-    Bitmask<49> x;
+    bitmask_setall<49>();
+}
+
+template<int N>
+void bitmask_assignment(void)
+{
+    Bitmask<N> x;
     x.set(0);
     x.set(5);
     x.set(6);
-    x.set(48);
+    x.set(N-1);
 
-    Bitmask<49> y;
+    Bitmask<N> y;
     y = x;
     x.clear(0);
     EXPECT_EQ(true, y.get(0));
     EXPECT_EQ(true, y.get(5));
     EXPECT_EQ(true, y.get(6));
-    EXPECT_EQ(true, y.get(48));
+    EXPECT_EQ(true, y.get(N-1));
+}
+
+TEST(Bitmask, Assignment)
+{
+    bitmask_assignment<49>();
 }
 
 AP_GTEST_PANIC()