px4-firmware/unittests/param_test.cpp

152 lines
3.7 KiB
C++

#include <systemlib/visibility.h>
#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] = test_1;
param_array[1] = test_2;
param_array[2] = rc_x;
param_array[3] = rc2_x;
param_info_base = (struct param_info_s *) &param_array[0];
param_info_limit = (struct param_info_s *) &param_array[4]; // needs to point at the end of the data,
// therefore number of params + 1
}
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 (%lu) did not return parameter\n", param);
ASSERT_EQ(expected, value) << printf("value for param (%lu) doesn't match default value\n", 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, 2);
_assert_parameter_int_value((param_t)1, 4);
_assert_parameter_int_value((param_t)2, 8);
_assert_parameter_int_value((param_t)3, 16);
}
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, 2);
_assert_parameter_int_value((param_t)1, 4);
_assert_parameter_int_value((param_t)2, 50);
_assert_parameter_int_value((param_t)3, 16);
}
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, 4);
_assert_parameter_int_value((param_t)2, 50);
_assert_parameter_int_value((param_t)3, 16);
}
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, 2);
_assert_parameter_int_value((param_t)1, 4);
_assert_parameter_int_value((param_t)2, 50);
_assert_parameter_int_value((param_t)3, 16);
}
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, 2);
_assert_parameter_int_value((param_t)1, 4);
_assert_parameter_int_value((param_t)2, 50);
_assert_parameter_int_value((param_t)3, 50);
}