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gps blending make test to work without templated gps_blending class

This commit is contained in:
bazooka joe 2021-02-05 17:03:59 +02:00 committed by Lorenz Meier
parent 8087fac3fc
commit 8834741be8
2 changed files with 10 additions and 10 deletions
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2
src/modules/sensors/vehicle_gps_position/CMakeLists.txt
View File

@ -39,4 +39,4 @@ px4_add_library(vehicle_gps_position
)
target_link_libraries(vehicle_gps_position PRIVATE ecl_geo px4_work_queue)
px4_add_functional_gtest(SRC gps_blending_test.cpp LINKLIBS ecl_geo)
px4_add_functional_gtest(SRC gps_blending_test.cpp LINKLIBS vehicle_gps_position ecl_geo)

18
src/modules/sensors/vehicle_gps_position/gps_blending_test.cpp
View File

@ -49,8 +49,8 @@ class GpsBlendingTest : public ::testing::Test
{
public:
sensor_gps_s getDefaultGpsData();
void runSeconds(float duration_s, GpsBlending<2> &gps_blending, sensor_gps_s &gps_data, int instance);
void runSeconds(float duration_s, GpsBlending<2> &gps_blending, sensor_gps_s &gps_data0, sensor_gps_s &gps_data1);
void runSeconds(float duration_s, GpsBlending &gps_blending, sensor_gps_s &gps_data, int instance);
void runSeconds(float duration_s, GpsBlending &gps_blending, sensor_gps_s &gps_data0, sensor_gps_s &gps_data1);
uint64_t _time_now_us{1000000};
};
@ -87,7 +87,7 @@ sensor_gps_s GpsBlendingTest::getDefaultGpsData()
return gps_data;
}
void GpsBlendingTest::runSeconds(float duration_s, GpsBlending<2> &gps_blending, sensor_gps_s &gps_data, int instance)
void GpsBlendingTest::runSeconds(float duration_s, GpsBlending &gps_blending, sensor_gps_s &gps_data, int instance)
{
const float dt = 0.1;
const uint64_t dt_us = static_cast<uint64_t>(dt * 1e6f);
@ -101,7 +101,7 @@ void GpsBlendingTest::runSeconds(float duration_s, GpsBlending<2> &gps_blending,
}
}
void GpsBlendingTest::runSeconds(float duration_s, GpsBlending<2> &gps_blending, sensor_gps_s &gps_data0,
void GpsBlendingTest::runSeconds(float duration_s, GpsBlending &gps_blending, sensor_gps_s &gps_data0,
sensor_gps_s &gps_data1)
{
const float dt = 0.1;
@ -121,7 +121,7 @@ void GpsBlendingTest::runSeconds(float duration_s, GpsBlending<2> &gps_blending,
TEST_F(GpsBlendingTest, noData)
{
GpsBlending<2> gps_blending;
GpsBlending gps_blending;
EXPECT_EQ(gps_blending.getSelectedGps(), 0);
EXPECT_FALSE(gps_blending.isNewOutputDataAvailable());
@ -134,7 +134,7 @@ TEST_F(GpsBlendingTest, noData)
TEST_F(GpsBlendingTest, singleReceiver)
{
GpsBlending<2> gps_blending;
GpsBlending gps_blending;
gps_blending.setPrimaryInstance(-1);
sensor_gps_s gps_data = getDefaultGpsData();
@ -162,7 +162,7 @@ TEST_F(GpsBlendingTest, singleReceiver)
TEST_F(GpsBlendingTest, dualReceiverNoBlending)
{
GpsBlending<2> gps_blending;
GpsBlending gps_blending;
// GIVEN: two receivers with the same prioity
gps_blending.setPrimaryInstance(-1);
@ -192,7 +192,7 @@ TEST_F(GpsBlendingTest, dualReceiverNoBlending)
TEST_F(GpsBlendingTest, dualReceiverBlendingHPos)
{
GpsBlending<2> gps_blending;
GpsBlending gps_blending;
sensor_gps_s gps_data0 = getDefaultGpsData();
sensor_gps_s gps_data1 = getDefaultGpsData();
@ -215,7 +215,7 @@ TEST_F(GpsBlendingTest, dualReceiverBlendingHPos)
TEST_F(GpsBlendingTest, dualReceiverFailover)
{
GpsBlending<2> gps_blending;
GpsBlending gps_blending;
// GIVEN: a dual GPS setup with the first instance (0)
// set as primary