forked from Archive/PX4-Autopilot
move parameter unittest into systemcmds
This commit is contained in:
Daniel Agar
parent
f26cd01d16
commit
4937449890
|
|
@ -44,7 +44,6 @@ src/modules/uORB/topics/*
|
|||
src/platforms/nuttx/px4_messages/*
|
||||
src/platforms/ros/px4_messages/*
|
||||
Firmware.zip
|
||||
unittests/build
|
||||
*.generated.h
|
||||
.vagrant
|
||||
*.pretty
|
||||
|
|
|
|||
|
|
@ -22,10 +22,6 @@
|
|||
[submodule "Tools/sitl_gazebo"]
|
||||
path = Tools/sitl_gazebo
|
||||
url = https://github.com/PX4/sitl_gazebo.git
|
||||
[submodule "unittests/googletest"]
|
||||
path = unittests/googletest
|
||||
url = https://github.com/google/googletest.git
|
||||
ignore = untracked
|
||||
[submodule "src/lib/matrix"]
|
||||
path = src/lib/matrix
|
||||
url = https://github.com/PX4/Matrix.git
|
||||
|
|
|
|||
|
|
@ -198,7 +198,6 @@ px4_add_git_submodule(TARGET git_gazebo PATH "Tools/sitl_gazebo")
|
|||
px4_add_git_submodule(TARGET git_gencpp PATH "Tools/gencpp")
|
||||
px4_add_git_submodule(TARGET git_genmsg PATH "Tools/genmsg")
|
||||
px4_add_git_submodule(TARGET git_gps_devices PATH "src/drivers/gps/devices")
|
||||
px4_add_git_submodule(TARGET git_gtest PATH "unittests/gtest")
|
||||
px4_add_git_submodule(TARGET git_jmavsim PATH "Tools/jMAVSim")
|
||||
px4_add_git_submodule(TARGET git_matrix PATH "src/lib/matrix")
|
||||
px4_add_git_submodule(TARGET git_mavlink PATH "mavlink/include/mavlink/v1.0")
|
||||
|
|
|
|||
14
Makefile
14
Makefile
|
|
@ -305,26 +305,22 @@ format:
|
|||
|
||||
# Testing
|
||||
# --------------------------------------------------------------------
|
||||
.PHONY: unittest run_tests_posix tests tests_coverage
|
||||
|
||||
unittest:
|
||||
echo "UNIT TEST DISABLED"
|
||||
.PHONY: run_tests_posix tests tests_coverage
|
||||
|
||||
run_tests_posix:
|
||||
$(MAKE) --no-print-directory posix_sitl_default test_results
|
||||
|
||||
tests: unittest run_tests_posix
|
||||
tests: run_tests_posix
|
||||
|
||||
tests_coverage:
|
||||
@$(MAKE) --no-print-directory posix_sitl_default test_coverage_genhtml PX4_CMAKE_BUILD_TYPE=Coverage
|
||||
|
||||
coveralls_upload:
|
||||
@cpp-coveralls --include src/ \
|
||||
--exclude src/lib/DriverFramework \
|
||||
--exclude src/lib/ecl \
|
||||
--exclude src/lib/Matrix \
|
||||
--exclude=src/lib/DriverFramework \
|
||||
--exclude=src/lib/ecl \
|
||||
--exclude=src/lib/Matrix \
|
||||
--exclude=src/modules/uavcan/libuavcan \
|
||||
--exclude-pattern ".*/unittests/googletest/.*" \
|
||||
--root . --build-root build_posix_sitl_default/ --follow-symlinks
|
||||
|
||||
codecov_upload:
|
||||
|
|
|
|||
|
|
@ -101,7 +101,7 @@ echo "TMPDIR=\"$TMPDIR\""
|
|||
|
||||
# Make a list of all source and header files that we need to fix.
|
||||
# List of directories that we don't want to touch.
|
||||
EXCLUDE_FOLDERS=".git unittests Tools"
|
||||
EXCLUDE_FOLDERS=".git Tools"
|
||||
EXCLUDE_PATTERNS="examples matlab/scripts tests test unit_test *_test *_tests test_* apps/test_* UnitTests"
|
||||
# A regular expression for the exclude patterns.
|
||||
EXCLUDE_PATTERNS_RE="($(echo $EXCLUDE_PATTERNS | sed -e 's/\*/[^\/]*/g;s/ /|/g'))"
|
||||
|
|
|
|||
|
|
@ -569,7 +569,6 @@ void VDev::showDevices()
|
|||
|
||||
pthread_mutex_unlock(&devmutex);
|
||||
|
||||
#ifndef __PX4_UNIT_TESTS
|
||||
PX4_INFO("DF Devices:");
|
||||
const char *dev_path;
|
||||
unsigned int index = 0;
|
||||
|
|
@ -583,8 +582,6 @@ void VDev::showDevices()
|
|||
PX4_INFO(" %s", dev_path);
|
||||
}
|
||||
} while (i == 0);
|
||||
|
||||
#endif
|
||||
}
|
||||
|
||||
void VDev::showTopics()
|
||||
|
|
|
|||
|
|
@ -22,6 +22,7 @@ set(tests
|
|||
mc_pos_control
|
||||
mixer
|
||||
param
|
||||
parameters
|
||||
perf
|
||||
rc
|
||||
servo
|
||||
|
|
|
|||
|
|
@ -84,7 +84,6 @@
|
|||
static const char *param_default_file = PX4_ROOTFSDIR"/eeprom/parameters";
|
||||
static char *param_user_file = NULL;
|
||||
|
||||
|
||||
#if 0
|
||||
# define debug(fmt, args...) do { warnx(fmt, ##args); } while(0)
|
||||
#else
|
||||
|
|
@ -111,15 +110,8 @@ static bool autosave_disabled = false;
|
|||
/**
|
||||
* Array of static parameter info.
|
||||
*/
|
||||
#ifdef _UNIT_TEST
|
||||
extern struct param_info_s param_array[];
|
||||
extern struct param_info_s *param_info_base;
|
||||
extern struct param_info_s *param_info_limit;
|
||||
#define param_info_count (param_info_limit - param_info_base)
|
||||
#else
|
||||
static const struct param_info_s *param_info_base = (const struct param_info_s *) &px4_parameters;
|
||||
#define param_info_count px4_parameters.param_count
|
||||
#endif /* _UNIT_TEST */
|
||||
|
||||
/**
|
||||
* Storage for modified parameters.
|
||||
|
|
|
|||
|
|
@ -96,15 +96,8 @@ static bool autosave_disabled = false;
|
|||
/**
|
||||
* Array of static parameter info.
|
||||
*/
|
||||
#ifdef _UNIT_TEST
|
||||
extern struct param_info_s param_array[];
|
||||
extern struct param_info_s *param_info_base;
|
||||
extern struct param_info_s *param_info_limit;
|
||||
#define param_info_count (param_info_limit - param_info_base)
|
||||
#else
|
||||
static struct param_info_s *param_info_base = (struct param_info_s *) &px4_parameters;
|
||||
#define param_info_count px4_parameters.param_count
|
||||
#endif /* _UNIT_TEST */
|
||||
|
||||
/**
|
||||
* Storage for modified parameters.
|
||||
|
|
|
|||
|
|
@ -47,7 +47,5 @@
|
|||
#include <board_config.h>
|
||||
|
||||
#elif defined (__PX4_POSIX)
|
||||
# if !defined(__PX4_UNIT_TESTS)
|
||||
# include <board_config.h>
|
||||
# endif
|
||||
#endif
|
||||
|
|
|
|||
|
|
@ -34,16 +34,16 @@
|
|||
set(srcs
|
||||
test_adc.c
|
||||
test_autodeclination.cpp
|
||||
test_dataman.c
|
||||
test_hysteresis.cpp
|
||||
test_bson.c
|
||||
test_conv.cpp
|
||||
test_dataman.c
|
||||
test_file.c
|
||||
test_file2.c
|
||||
test_float.cpp
|
||||
test_gpio.c
|
||||
test_hott_telemetry.c
|
||||
test_hrt.c
|
||||
test_hysteresis.cpp
|
||||
test_int.cpp
|
||||
test_jig_voltages.c
|
||||
test_led.c
|
||||
|
|
@ -52,6 +52,7 @@ set(srcs
|
|||
test_mixer.cpp
|
||||
test_mount.c
|
||||
test_param.c
|
||||
test_parameters.cpp
|
||||
test_perf.c
|
||||
test_ppm_loopback.c
|
||||
test_rc.c
|
||||
|
|
|
|||
|
|
@ -0,0 +1,24 @@
|
|||
/**
|
||||
* @group Testing
|
||||
*/
|
||||
PARAM_DEFINE_INT32(TEST_1, 2);
|
||||
|
||||
/**
|
||||
* @group Testing
|
||||
*/
|
||||
PARAM_DEFINE_INT32(TEST_2, 4);
|
||||
|
||||
/**
|
||||
* @group Testing
|
||||
*/
|
||||
PARAM_DEFINE_INT32(TEST_RC_X, 8);
|
||||
|
||||
/**
|
||||
* @group Testing
|
||||
*/
|
||||
PARAM_DEFINE_INT32(TEST_RC2_X, 16);
|
||||
|
||||
/**
|
||||
* @group Testing
|
||||
*/
|
||||
PARAM_DEFINE_INT32(TEST_PARAMS, 12345678);
|
||||
|
|
@ -46,11 +46,6 @@
|
|||
#define PARAM_MAGIC1 12345678
|
||||
#define PARAM_MAGIC2 0xa5a5a5a5
|
||||
|
||||
/**
|
||||
* @group Testing
|
||||
*/
|
||||
PARAM_DEFINE_INT32(TEST_PARAMS, 12345678);
|
||||
|
||||
int
|
||||
test_param(int argc, char *argv[])
|
||||
{
|
||||
|
|
|
|||
|
|
@ -0,0 +1,172 @@
|
|||
#include <unit_test/unit_test.h>
|
||||
|
||||
class ParameterTest : public UnitTest
|
||||
{
|
||||
public:
|
||||
virtual bool run_tests();
|
||||
|
||||
ParameterTest()
|
||||
{
|
||||
p0 = param_find("TEST_RC_X");
|
||||
p1 = param_find("TEST_RC2_X");
|
||||
p2 = param_find("TEST_1");
|
||||
p3 = param_find("TEST_2");
|
||||
}
|
||||
|
||||
private:
|
||||
|
||||
param_t p0{PARAM_INVALID};
|
||||
param_t p1{PARAM_INVALID};
|
||||
param_t p2{PARAM_INVALID};
|
||||
param_t p3{PARAM_INVALID};
|
||||
|
||||
bool _assert_parameter_int_value(param_t param, int32_t expected);
|
||||
bool _set_all_int_parameters_to(int32_t value);
|
||||
|
||||
bool SimpleFind();
|
||||
bool ResetAll();
|
||||
bool ResetAllExcludesOne();
|
||||
bool ResetAllExcludesTwo();
|
||||
bool ResetAllExcludesBoundaryCheck();
|
||||
bool ResetAllExcludesWildcard();
|
||||
};
|
||||
|
||||
bool ParameterTest::_assert_parameter_int_value(param_t param, int32_t expected)
|
||||
{
|
||||
int32_t value;
|
||||
int result = param_get(param, &value);
|
||||
ut_compare("param_get did not return parameter", 0, result);
|
||||
ut_compare("value for param doesn't match default value", expected, value);
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
bool ParameterTest::_set_all_int_parameters_to(int32_t value)
|
||||
{
|
||||
param_set(p0, &value);
|
||||
param_set(p1, &value);
|
||||
param_set(p2, &value);
|
||||
param_set(p3, &value);
|
||||
|
||||
bool ret = false;
|
||||
|
||||
ret = ret || _assert_parameter_int_value(p0, value);
|
||||
ret = ret || _assert_parameter_int_value(p1, value);
|
||||
ret = ret || _assert_parameter_int_value(p2, value);
|
||||
ret = ret || _assert_parameter_int_value(p3, value);
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
bool ParameterTest::SimpleFind()
|
||||
{
|
||||
param_t param = param_find("TEST_2");
|
||||
|
||||
ut_assert_true(PARAM_INVALID != param);
|
||||
|
||||
int32_t value;
|
||||
int result = param_get(param, &value);
|
||||
|
||||
ut_compare("param_get did not return parameter", 0, result);
|
||||
ut_compare("value of returned parameter does not match", 4, value);
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
bool ParameterTest::ResetAll()
|
||||
{
|
||||
_set_all_int_parameters_to(50);
|
||||
|
||||
param_reset_all();
|
||||
|
||||
bool ret = false;
|
||||
|
||||
ret = ret || _assert_parameter_int_value(p0, 8);
|
||||
ret = ret || _assert_parameter_int_value(p1, 16);
|
||||
ret = ret || _assert_parameter_int_value(p2, 2);
|
||||
ret = ret || _assert_parameter_int_value(p3, 4);
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
bool ParameterTest::ResetAllExcludesOne()
|
||||
{
|
||||
_set_all_int_parameters_to(50);
|
||||
|
||||
const char *excludes[] = {"TEST_RC_X"};
|
||||
param_reset_excludes(excludes, 1);
|
||||
|
||||
bool ret = false;
|
||||
|
||||
ret = ret || _assert_parameter_int_value(p0, 50);
|
||||
ret = ret || _assert_parameter_int_value(p1, 16);
|
||||
ret = ret || _assert_parameter_int_value(p2, 2);
|
||||
ret = ret || _assert_parameter_int_value(p3, 4);
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
bool ParameterTest::ResetAllExcludesTwo()
|
||||
{
|
||||
_set_all_int_parameters_to(50);
|
||||
|
||||
const char *excludes[] = {"TEST_RC_X", "TEST_1"};
|
||||
param_reset_excludes(excludes, 2);
|
||||
|
||||
bool ret = false;
|
||||
|
||||
ret = ret || _assert_parameter_int_value(p0, 50);
|
||||
ret = ret || _assert_parameter_int_value(p1, 16);
|
||||
ret = ret || _assert_parameter_int_value(p2, 50);
|
||||
ret = ret || _assert_parameter_int_value(p3, 4);
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
bool ParameterTest::ResetAllExcludesBoundaryCheck()
|
||||
{
|
||||
_set_all_int_parameters_to(50);
|
||||
|
||||
const char *excludes[] = {"TEST_RC_X", "TEST_1"};
|
||||
param_reset_excludes(excludes, 1);
|
||||
|
||||
bool ret = false;
|
||||
|
||||
ret = ret || _assert_parameter_int_value(p0, 50);
|
||||
ret = ret || _assert_parameter_int_value(p1, 16);
|
||||
ret = ret || _assert_parameter_int_value(p2, 2);
|
||||
ret = ret || _assert_parameter_int_value(p3, 4);
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
bool ParameterTest::ResetAllExcludesWildcard()
|
||||
{
|
||||
_set_all_int_parameters_to(50);
|
||||
|
||||
const char *excludes[] = {"TEST_RC*"};
|
||||
param_reset_excludes(excludes, 1);
|
||||
|
||||
bool ret = false;
|
||||
|
||||
ret = ret || _assert_parameter_int_value(p0, 50);
|
||||
ret = ret || _assert_parameter_int_value(p1, 50);
|
||||
ret = ret || _assert_parameter_int_value(p2, 2);
|
||||
ret = ret || _assert_parameter_int_value(p3, 4);
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
bool ParameterTest::run_tests()
|
||||
{
|
||||
ut_run_test(SimpleFind);
|
||||
ut_run_test(ResetAll);
|
||||
ut_run_test(ResetAllExcludesOne);
|
||||
ut_run_test(ResetAllExcludesTwo);
|
||||
ut_run_test(ResetAllExcludesBoundaryCheck);
|
||||
ut_run_test(ResetAllExcludesWildcard);
|
||||
|
||||
return (_tests_failed == 0);
|
||||
}
|
||||
|
||||
ut_declare_test_c(test_parameters, ParameterTest)
|
||||
|
|
@ -116,6 +116,7 @@ const struct {
|
|||
{"matrix", test_matrix, 0},
|
||||
{"mount", test_mount, OPT_NOJIGTEST | OPT_NOALLTEST},
|
||||
{"param", test_param, 0},
|
||||
{"parameters", test_parameters, 0},
|
||||
{"perf", test_perf, OPT_NOJIGTEST},
|
||||
{"ppm", test_ppm, OPT_NOJIGTEST | OPT_NOALLTEST},
|
||||
{"ppm_loopback", test_ppm_loopback, OPT_NOALLTEST},
|
||||
|
|
|
|||
|
|
@ -86,6 +86,7 @@ extern int test_uart_break(int argc, char *argv[]);
|
|||
extern int test_uart_console(int argc, char *argv[]);
|
||||
extern int test_uart_loopback(int argc, char *argv[]);
|
||||
extern int test_uart_send(int argc, char *argv[]);
|
||||
extern int test_parameters(int argc, char *argv[]);
|
||||
|
||||
/* external */
|
||||
extern int commander_tests_main(int argc, char *argv[]);
|
||||
|
|
|
|||
|
|
@ -1,22 +0,0 @@
|
|||
./obj/*
|
||||
gtest_main.a
|
||||
dsm_test
|
||||
mixer_test
|
||||
sf0x_test
|
||||
sbus2_test
|
||||
autodeclination_test
|
||||
rc_input_test
|
||||
conversion_test
|
||||
param_test
|
||||
*.a
|
||||
sample_unittest
|
||||
CMakeCache.txt
|
||||
CMakeFiles
|
||||
CTestTestfile.cmake
|
||||
cmake_install.cmake
|
||||
Makefile
|
||||
.ninja_deps
|
||||
.ninja_log
|
||||
build.ninja
|
||||
rules.ninja
|
||||
|
||||
|
|
@ -1,118 +0,0 @@
|
|||
cmake_minimum_required(VERSION 3.1)
|
||||
|
||||
if("${CMAKE_C_COMPILER_ID}" MATCHES "Clang")
|
||||
add_compile_options(-Qunused-arguments )
|
||||
endif()
|
||||
if("${CMAKE_CXX_COMPILER_ID}" MATCHES "Clang")
|
||||
add_compile_options(-Qunused-arguments)
|
||||
endif()
|
||||
|
||||
project(px4_unittests)
|
||||
enable_testing()
|
||||
|
||||
message(STATUS ${CONFIG})
|
||||
|
||||
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -Werror -std=gnu99 -g")
|
||||
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Werror -std=gnu++0x -g -fno-exceptions -fno-rtti -fno-threadsafe-statics -DCONFIG_WCHAR_BUILTIN -D__CUSTOM_FILE_IO__")
|
||||
|
||||
# code coverage
|
||||
if ($ENV{PX4_CODE_COVERAGE} MATCHES "1")
|
||||
message(STATUS "Code coverage build flags enabled")
|
||||
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -O0 -g3 -fprofile-arcs -ftest-coverage --coverage")
|
||||
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O0 -g3 -fprofile-arcs -ftest-coverage --coverage")
|
||||
endif()
|
||||
|
||||
if (NOT PX4_SOURCE_DIR)
|
||||
set(PX4_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}/..")
|
||||
endif()
|
||||
|
||||
set(GTEST_DIR ${PX4_SOURCE_DIR}/unittests/googletest)
|
||||
add_subdirectory(${GTEST_DIR})
|
||||
include_directories(${GTEST_DIR}/include)
|
||||
|
||||
set(PX4_SRC ${PX4_SOURCE_DIR}/src)
|
||||
set(PX4_SITL_BUILD ${PX4_SRC}/../build_posix_sitl_default)
|
||||
|
||||
include_directories(${PX4_SOURCE_DIR})
|
||||
include_directories(${PX4_SITL_BUILD}/src)
|
||||
include_directories(${PX4_SITL_BUILD}/src/modules)
|
||||
include_directories(${PX4_SITL_BUILD}/src/modules/param)
|
||||
include_directories(${PX4_SITL_BUILD}/src/modules/uORB)
|
||||
include_directories(${PX4_SRC})
|
||||
include_directories(${PX4_SRC}/drivers)
|
||||
include_directories(${PX4_SRC}/drivers/device)
|
||||
include_directories(${PX4_SRC}/lib)
|
||||
include_directories(${PX4_SRC}/lib/DriverFramework/framework/include)
|
||||
include_directories(${PX4_SRC}/modules)
|
||||
include_directories(${PX4_SRC}/include)
|
||||
include_directories(${PX4_SRC}/modules/uORB)
|
||||
include_directories(${PX4_SRC}/platforms)
|
||||
include_directories(${PX4_SRC}/platforms/posix/include)
|
||||
include_directories(${PX4_SRC}/platforms/posix/px4_layer)
|
||||
include_directories(${PX4_SRC}/platforms/posix/work_queue)
|
||||
|
||||
add_definitions(-D__CUSTOM_FILE_IO__)
|
||||
add_definitions(-D__EXPORT=)
|
||||
add_definitions(-D__PX4_POSIX)
|
||||
add_definitions(-D__PX4_TESTS)
|
||||
add_definitions(-D__PX4_UNIT_TESTS)
|
||||
add_definitions(-D_UNIT_TEST=)
|
||||
add_definitions(-DPARAM_NO_AUTOSAVE)
|
||||
add_definitions(-DERROR=-1)
|
||||
add_definitions(-Dmain_t=int)
|
||||
add_definitions(-Dnoreturn_function=)
|
||||
add_definitions(-DOK=0)
|
||||
|
||||
if(${CMAKE_SYSTEM_NAME} MATCHES "Darwin")
|
||||
add_definitions(-D__PX4_DARWIN)
|
||||
else()
|
||||
add_definitions(-D__PX4_LINUX)
|
||||
endif()
|
||||
|
||||
# the following flags only apply to the PX4 source
|
||||
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -include visibility.h")
|
||||
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -include visibility.h")
|
||||
|
||||
set(PX4_PLATFORM
|
||||
${PX4_SITL_BUILD}/libmsg_gen.a
|
||||
${PX4_SITL_BUILD}/src/drivers/boards/sitl/libdrivers__boards__sitl.a
|
||||
${PX4_SITL_BUILD}/src/drivers/device/libdrivers__device.a
|
||||
${PX4_SITL_BUILD}/src/lib/DriverFramework/framework/liblib__DriverFramework__framework.a
|
||||
${PX4_SITL_BUILD}/src/lib/DriverFramework/framework/src/libdf_driver_framework.a
|
||||
${PX4_SITL_BUILD}/src/platforms/common/libplatforms__common.a
|
||||
${PX4_SITL_BUILD}/src/platforms/posix/px4_layer/libplatforms__posix__px4_layer.a
|
||||
${PX4_SITL_BUILD}/src/platforms/posix/work_queue/libplatforms__posix__work_queue.a
|
||||
)
|
||||
|
||||
# check
|
||||
add_custom_target(check
|
||||
COMMAND ${CMAKE_CTEST_COMMAND} -j2 --output-on-failure
|
||||
WORKING_DIR ${PX4_BINARY_DIR}
|
||||
USES_TERMINAL)
|
||||
|
||||
# add_gtest
|
||||
function(add_gtest)
|
||||
foreach(test_name ${ARGN})
|
||||
if(${CMAKE_SYSTEM_NAME} MATCHES "Darwin")
|
||||
target_link_libraries(${test_name} gtest_main pthread ${PX4_PLATFORM})
|
||||
else()
|
||||
target_link_libraries(${test_name} gtest_main pthread rt ${PX4_PLATFORM})
|
||||
endif()
|
||||
add_test(NAME ${test_name} COMMAND ${test_name} --gtest_output=xml WORKING_DIRECTORY ${PX4_BINARY_DIR})
|
||||
add_dependencies(check ${test_name})
|
||||
endforeach()
|
||||
endfunction()
|
||||
|
||||
|
||||
#######################################################################
|
||||
# TESTS
|
||||
#######################################################################
|
||||
# add_executable(example_test example_test.cpp)
|
||||
# add_gtest(example_test)
|
||||
|
||||
# param_test
|
||||
add_executable(param_test setup.cpp param_test.cpp uorb_stub.cpp
|
||||
${PX4_SRC}/modules/systemlib/bson/tinybson.c
|
||||
${PX4_SRC}/modules/systemlib/param/param.c)
|
||||
target_link_libraries(param_test ${PX4_PLATFORM})
|
||||
add_gtest(param_test)
|
||||
|
|
@ -1 +0,0 @@
|
|||
Subproject commit c99458533a9b4c743ed51537e25989ea55944908
|
||||
|
|
@ -1,153 +0,0 @@
|
|||
#include <systemlib/param/param.h>
|
||||
|
||||
#include "gtest/gtest.h"
|
||||
|
||||
/*
|
||||
* These will be used in param.c if compiling for unit tests
|
||||
*/
|
||||
struct param_info_s param_array[256];
|
||||
struct param_info_s *param_info_base;
|
||||
struct param_info_s *param_info_limit;
|
||||
|
||||
/*
|
||||
* Adds test parameters
|
||||
*/
|
||||
void _add_parameters()
|
||||
{
|
||||
struct param_info_s test_1 = {
|
||||
"TEST_1",
|
||||
PARAM_TYPE_INT32
|
||||
};
|
||||
test_1.val.i = 2;
|
||||
|
||||
struct param_info_s test_2 = {
|
||||
"TEST_2",
|
||||
PARAM_TYPE_INT32
|
||||
};
|
||||
test_2.val.i = 4;
|
||||
|
||||
struct param_info_s rc_x = {
|
||||
"RC_X",
|
||||
PARAM_TYPE_INT32
|
||||
};
|
||||
rc_x.val.i = 8;
|
||||
|
||||
struct param_info_s rc2_x = {
|
||||
"RC2_X",
|
||||
PARAM_TYPE_INT32
|
||||
};
|
||||
rc2_x.val.i = 16;
|
||||
|
||||
param_array[0] = rc_x;
|
||||
param_array[1] = rc2_x;
|
||||
param_array[2] = test_1;
|
||||
param_array[3] = test_2;
|
||||
param_info_base = (struct param_info_s *) ¶m_array[0];
|
||||
// needs to point at the end of the data,
|
||||
// therefore number of params + 1
|
||||
param_info_limit = (struct param_info_s *) ¶m_array[4];
|
||||
|
||||
}
|
||||
|
||||
void _assert_parameter_int_value(param_t param, int32_t expected)
|
||||
{
|
||||
int32_t value;
|
||||
int result = param_get(param, &value);
|
||||
ASSERT_EQ(0, result) << printf("param_get (%i) did not return parameter\n", (int)param);
|
||||
ASSERT_EQ(expected, value) << printf("value for param (%i) doesn't match default value\n", (int)param);
|
||||
}
|
||||
|
||||
void _set_all_int_parameters_to(int32_t value)
|
||||
{
|
||||
param_set((param_t)0, &value);
|
||||
param_set((param_t)1, &value);
|
||||
param_set((param_t)2, &value);
|
||||
param_set((param_t)3, &value);
|
||||
|
||||
_assert_parameter_int_value((param_t)0, value);
|
||||
_assert_parameter_int_value((param_t)1, value);
|
||||
_assert_parameter_int_value((param_t)2, value);
|
||||
_assert_parameter_int_value((param_t)3, value);
|
||||
}
|
||||
|
||||
TEST(ParamTest, SimpleFind)
|
||||
{
|
||||
_add_parameters();
|
||||
|
||||
param_t param = param_find("TEST_2");
|
||||
ASSERT_NE(PARAM_INVALID, param) << "param_find did not find parameter";
|
||||
|
||||
int32_t value;
|
||||
int result = param_get(param, &value);
|
||||
ASSERT_EQ(0, result) << "param_get did not return parameter";
|
||||
ASSERT_EQ(4, value) << "value of returned parameter does not match";
|
||||
}
|
||||
|
||||
TEST(ParamTest, ResetAll)
|
||||
{
|
||||
_add_parameters();
|
||||
_set_all_int_parameters_to(50);
|
||||
|
||||
param_reset_all();
|
||||
|
||||
_assert_parameter_int_value((param_t)0, 8);
|
||||
_assert_parameter_int_value((param_t)1, 16);
|
||||
_assert_parameter_int_value((param_t)2, 2);
|
||||
_assert_parameter_int_value((param_t)3, 4);
|
||||
}
|
||||
|
||||
TEST(ParamTest, ResetAllExcludesOne)
|
||||
{
|
||||
_add_parameters();
|
||||
_set_all_int_parameters_to(50);
|
||||
|
||||
const char *excludes[] = {"RC_X"};
|
||||
param_reset_excludes(excludes, 1);
|
||||
|
||||
_assert_parameter_int_value((param_t)0, 50);
|
||||
_assert_parameter_int_value((param_t)1, 16);
|
||||
_assert_parameter_int_value((param_t)2, 2);
|
||||
_assert_parameter_int_value((param_t)3, 4);
|
||||
}
|
||||
|
||||
TEST(ParamTest, ResetAllExcludesTwo)
|
||||
{
|
||||
_add_parameters();
|
||||
_set_all_int_parameters_to(50);
|
||||
|
||||
const char *excludes[] = {"RC_X", "TEST_1"};
|
||||
param_reset_excludes(excludes, 2);
|
||||
|
||||
_assert_parameter_int_value((param_t)0, 50);
|
||||
_assert_parameter_int_value((param_t)1, 16);
|
||||
_assert_parameter_int_value((param_t)2, 50);
|
||||
_assert_parameter_int_value((param_t)3, 4);
|
||||
}
|
||||
|
||||
TEST(ParamTest, ResetAllExcludesBoundaryCheck)
|
||||
{
|
||||
_add_parameters();
|
||||
_set_all_int_parameters_to(50);
|
||||
|
||||
const char *excludes[] = {"RC_X", "TEST_1"};
|
||||
param_reset_excludes(excludes, 1);
|
||||
|
||||
_assert_parameter_int_value((param_t)0, 50);
|
||||
_assert_parameter_int_value((param_t)1, 16);
|
||||
_assert_parameter_int_value((param_t)2, 2);
|
||||
_assert_parameter_int_value((param_t)3, 4);
|
||||
}
|
||||
|
||||
TEST(ParamTest, ResetAllExcludesWildcard)
|
||||
{
|
||||
_add_parameters();
|
||||
_set_all_int_parameters_to(50);
|
||||
|
||||
const char *excludes[] = {"RC*"};
|
||||
param_reset_excludes(excludes, 1);
|
||||
|
||||
_assert_parameter_int_value((param_t)0, 50);
|
||||
_assert_parameter_int_value((param_t)1, 50);
|
||||
_assert_parameter_int_value((param_t)2, 2);
|
||||
_assert_parameter_int_value((param_t)3, 4);
|
||||
}
|
||||
|
|
@ -1,23 +0,0 @@
|
|||
#include <systemlib/param/param.h>
|
||||
|
||||
#include "gtest/gtest.h"
|
||||
|
||||
|
||||
class TestEnvironment: public ::testing::Environment {
|
||||
public:
|
||||
/**
|
||||
* Testing setup: this is called before the actual tests are executed.
|
||||
*/
|
||||
virtual void SetUp()
|
||||
{
|
||||
param_init();
|
||||
}
|
||||
};
|
||||
|
||||
int main(int argc, char* argv[])
|
||||
{
|
||||
::testing::InitGoogleTest(&argc, argv);
|
||||
// gtest takes ownership of the TestEnvironment ptr - we don't delete it.
|
||||
::testing::AddGlobalTestEnvironment(new TestEnvironment);
|
||||
return RUN_ALL_TESTS();
|
||||
}
|
||||
|
|
@ -1,26 +0,0 @@
|
|||
#include <stdint.h>
|
||||
#include <sys/types.h>
|
||||
//#include "gmock/gmock.h"
|
||||
|
||||
#include "uORB/uORB.h"
|
||||
|
||||
/******************************************
|
||||
* uORB stubs (incomplete)
|
||||
*
|
||||
* TODO: use googlemock
|
||||
******************************************/
|
||||
|
||||
orb_advert_t orb_advertise(const struct orb_metadata *meta, const void *data)
|
||||
{
|
||||
return (orb_advert_t)0;
|
||||
}
|
||||
|
||||
orb_advert_t orb_advertise_queue(const struct orb_metadata *meta, const void *data, unsigned int queue_size)
|
||||
{
|
||||
return (orb_advert_t)0;
|
||||
}
|
||||
|
||||
int orb_publish(const struct orb_metadata *meta, orb_advert_t handle, const void *data)
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
Loading…
Reference in New Issue