mirror of
https://gitee.com/xiaohuolufeihua/bizhang_-obav.git
synced 2026-05-21 09:22:18 +00:00
unit_tests: move hysteresis test to new framework
This commit is contained in:
Julian Oes
@@ -34,6 +34,7 @@
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set(srcs
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test_adc.c
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test_autodeclination.cpp
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test_hysteresis.cpp
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test_bson.c
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test_conv.cpp
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test_file.c
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@@ -86,4 +87,4 @@ px4_add_module(
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DEPENDS
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platforms__common
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)
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# vim: set noet ft=cmake fenc=utf-8 ff=unix :
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# vim: set noet ft=cmake fenc=utf-8 ff=unix :
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196
src/systemcmds/tests/test_hysteresis.cpp
Normal file
196
src/systemcmds/tests/test_hysteresis.cpp
Normal file
@@ -0,0 +1,196 @@
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#include <unit_test/unit_test.h>
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#include <systemlib/hysteresis/hysteresis.h>
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class HysteresisTest : public UnitTest
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{
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public:
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virtual bool run_tests(void);
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private:
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bool _init_false();
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bool _init_true();
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bool _zero_case();
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bool _change_after_time();
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bool _hysteresis_changed();
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bool _change_after_multiple_sets();
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bool _take_change_back();
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};
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bool HysteresisTest::run_tests()
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{
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ut_run_test(_init_false);
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ut_run_test(_init_true);
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ut_run_test(_zero_case);
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ut_run_test(_change_after_time);
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ut_run_test(_hysteresis_changed);
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ut_run_test(_change_after_multiple_sets);
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ut_run_test(_take_change_back);
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return (_tests_failed == 0);
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}
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bool HysteresisTest::_init_false()
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{
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systemlib::Hysteresis hysteresis(false);
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ut_assert_false(hysteresis.get_state());
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return true;
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}
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bool HysteresisTest::_init_true()
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{
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systemlib::Hysteresis hysteresis(true);
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ut_assert_true(hysteresis.get_state());
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return true;
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}
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bool HysteresisTest::_zero_case()
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{
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// Default is 0 hysteresis.
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systemlib::Hysteresis hysteresis(false);
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ut_assert_false(hysteresis.get_state());
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// Change and see result immediately.
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hysteresis.set_state_and_update(true);
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ut_assert_true(hysteresis.get_state());
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hysteresis.set_state_and_update(false);
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ut_assert_false(hysteresis.get_state());
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hysteresis.set_state_and_update(true);
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ut_assert_true(hysteresis.get_state());
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// A wait won't change anything.
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usleep(1000);
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hysteresis.update();
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ut_assert_true(hysteresis.get_state());
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return true;
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}
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bool HysteresisTest::_change_after_time()
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{
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systemlib::Hysteresis hysteresis(false);
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hysteresis.set_hysteresis_time_from(false, 5000);
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hysteresis.set_hysteresis_time_from(true, 3000);
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// Change to true.
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hysteresis.set_state_and_update(true);
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ut_assert_false(hysteresis.get_state());
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usleep(4000);
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hysteresis.update();
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ut_assert_false(hysteresis.get_state());
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usleep(2000);
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hysteresis.update();
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ut_assert_true(hysteresis.get_state());
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// Change back to false.
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hysteresis.set_state_and_update(false);
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ut_assert_true(hysteresis.get_state());
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usleep(1000);
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hysteresis.update();
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ut_assert_true(hysteresis.get_state());
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usleep(3000);
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hysteresis.update();
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ut_assert_false(hysteresis.get_state());
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return true;
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}
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bool HysteresisTest::_hysteresis_changed()
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{
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systemlib::Hysteresis hysteresis(false);
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hysteresis.set_hysteresis_time_from(true, 2000);
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hysteresis.set_hysteresis_time_from(false, 5000);
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// Change to true.
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hysteresis.set_state_and_update(true);
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ut_assert_false(hysteresis.get_state());
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usleep(3000);
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hysteresis.update();
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ut_assert_false(hysteresis.get_state());
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usleep(3000);
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hysteresis.update();
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ut_assert_true(hysteresis.get_state());
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// Change hysteresis time.
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hysteresis.set_hysteresis_time_from(true, 10000);
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// Change back to false.
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hysteresis.set_state_and_update(false);
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ut_assert_true(hysteresis.get_state());
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usleep(7000);
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hysteresis.update();
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ut_assert_true(hysteresis.get_state());
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usleep(5000);
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hysteresis.update();
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ut_assert_false(hysteresis.get_state());
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return true;
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}
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bool HysteresisTest::_change_after_multiple_sets()
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{
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systemlib::Hysteresis hysteresis(false);
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hysteresis.set_hysteresis_time_from(true, 5000);
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hysteresis.set_hysteresis_time_from(false, 5000);
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// Change to true.
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hysteresis.set_state_and_update(true);
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ut_assert_false(hysteresis.get_state());
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usleep(3000);
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hysteresis.set_state_and_update(true);
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ut_assert_false(hysteresis.get_state());
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usleep(3000);
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hysteresis.set_state_and_update(true);
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ut_assert_true(hysteresis.get_state());
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// Change to false.
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hysteresis.set_state_and_update(false);
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ut_assert_true(hysteresis.get_state());
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usleep(3000);
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hysteresis.set_state_and_update(false);
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ut_assert_true(hysteresis.get_state());
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usleep(3000);
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hysteresis.set_state_and_update(false);
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ut_assert_false(hysteresis.get_state());
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return true;
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}
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bool HysteresisTest::_take_change_back()
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{
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systemlib::Hysteresis hysteresis(false);
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hysteresis.set_hysteresis_time_from(false, 5000);
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// Change to true.
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hysteresis.set_state_and_update(true);
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ut_assert_false(hysteresis.get_state());
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usleep(3000);
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hysteresis.update();
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ut_assert_false(hysteresis.get_state());
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// Change your mind to false.
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hysteresis.set_state_and_update(false);
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ut_assert_false(hysteresis.get_state());
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usleep(6000);
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hysteresis.update();
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ut_assert_false(hysteresis.get_state());
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// And true again
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hysteresis.set_state_and_update(true);
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ut_assert_false(hysteresis.get_state());
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usleep(3000);
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hysteresis.update();
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ut_assert_false(hysteresis.get_state());
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usleep(3000);
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hysteresis.update();
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ut_assert_true(hysteresis.get_state());
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// The other directory is immediate.
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hysteresis.set_state_and_update(false);
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ut_assert_false(hysteresis.get_state());
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return true;
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}
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ut_declare_test_c(test_hysteresis, HysteresisTest)
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@@ -74,6 +74,7 @@ __BEGIN_DECLS
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extern int test_adc(int argc, char *argv[]);
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extern int test_autodeclination(int argc, char *argv[]);
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extern int test_hysteresis(int argc, char *argv[]);
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extern int test_bson(int argc, char *argv[]);
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extern int test_conv(int argc, char *argv[]);
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extern int test_file(int argc, char *argv[]);
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@@ -97,6 +97,7 @@ const struct {
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{"uorb", uorb_tests_main, 0},
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{"autodeclination", test_autodeclination, 0},
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{"hysteresis", test_hysteresis, 0},
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{"bson", test_bson, 0},
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{"conv", test_conv, 0},
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{"file", test_file, OPT_NOJIGTEST | OPT_NOALLTEST},
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@@ -1,9 +1,5 @@
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cmake_minimum_required(VERSION 2.8)
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include(CMakeForceCompiler)
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#CMAKE_FORCE_C_COMPILER(clang Clang)
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#CMAKE_FORCE_CXX_COMPILER(clang++ Clang)
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if("${CMAKE_C_COMPILER_ID}" STREQUAL "Clang")
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add_compile_options(-Qunused-arguments )
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endif()
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@@ -14,28 +10,16 @@ endif()
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project(unittests)
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enable_testing()
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include(CheckCXXCompilerFlag)
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CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
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CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
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set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -Werror -std=gnu99 -g")
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Werror -std=c++11 -g -fno-exceptions -fno-rtti -fno-threadsafe-statics")
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if(COMPILER_SUPPORTS_CXX11)
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -fno-exceptions -fno-rtti -fno-threadsafe-statics -D__CUSTOM_FILE_IO__ -D__PX4_UNIT_TESTS -g -Wall -Werror")
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elseif(COMPILER_SUPPORTS_CXX0X)
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x -fno-exceptions -fno-rtti -fno-threadsafe-statics -D__CUSTOM_FILE_IO__ -D__PX4_UNIT_TESTS -g -Wall -Werror")
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else()
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message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
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endif()
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set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -std=gnu99 -g")
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -g3 -fsanitize=address -fno-omit-frame-pointer")
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-sign-compare -Wno-unused-but-set-variable")
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set(GTEST_DIR ${CMAKE_SOURCE_DIR}/googletest)
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add_subdirectory(${GTEST_DIR})
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include_directories(${GTEST_DIR}/include)
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set(PX4_SRC ${CMAKE_SOURCE_DIR}/../src)
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set(PX4_SITL_BUILD ${PX4_SRC}/../build_posix_sitl_test)
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set(PX4_SITL_BUILD ${PX4_SRC}/../build_posix_sitl_default)
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include_directories(${CMAKE_SOURCE_DIR})
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include_directories(${PX4_SITL_BUILD}/src)
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@@ -52,43 +36,32 @@ include_directories(${PX4_SRC}/modules/uORB)
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include_directories(${PX4_SRC}/platforms)
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include_directories(${PX4_SRC}/platforms/posix/include)
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include_directories(${PX4_SRC}/platforms/posix/px4_layer)
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include_directories(${PX4_SRC}/platforms/posix/work_queue)
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add_definitions(-D__CUSTOM_FILE_IO__)
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add_definitions(-D__EXPORT=)
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add_definitions(-D__PX4_POSIX)
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add_definitions(-D__PX4_TESTS)
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add_definitions(-D__PX4_UNIT_TESTS)
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add_definitions(-D_UNIT_TEST=)
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add_definitions(-DERROR=-1)
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add_definitions(-Dmain_t=int)
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add_definitions(-Dnoreturn_function=)
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add_definitions(-DOK=0)
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# check
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add_custom_target(check
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COMMAND ${CMAKE_CTEST_COMMAND} -j2 --output-on-failure
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WORKING_DIR ${CMAKE_BINARY_DIR}
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USES_TERMINAL)
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if(${CMAKE_SYSTEM_NAME} MATCHES "Darwin")
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add_definitions(-D__PX4_DARWIN)
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else()
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add_definitions(-D__PX4_LINUX)
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endif()
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function(add_gtest)
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foreach(test_name ${ARGN})
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if(${CMAKE_SYSTEM_NAME} MATCHES "Darwin")
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target_link_libraries(${test_name} gtest_main pthread px4_platform)
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add_definitions(-D__PX4_DARWIN)
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else()
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target_link_libraries(${test_name} gtest_main pthread rt px4_platform)
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add_definitions(-D__PX4_LINUX)
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endif()
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add_test(NAME ${test_name} COMMAND ${test_name} WORKING_DIRECTORY ${CMAKE_SOURCE_DIR})
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add_dependencies(check ${test_name})
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endforeach()
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endfunction()
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add_library(px4_platform
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add_library(px4_platform
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${PX4_SITL_BUILD}/src/modules/param/px4_parameters.c
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${PX4_SRC}/drivers/device/device_posix.cpp
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${PX4_SRC}/drivers/device/i2c_posix.cpp
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${PX4_SRC}/drivers/device/device_posix.cpp
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${PX4_SRC}/drivers/device/i2c_posix.cpp
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${PX4_SRC}/drivers/device/ringbuffer.cpp
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${PX4_SRC}/drivers/device/sim.cpp
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${PX4_SRC}/drivers/device/vdev.cpp
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${PX4_SRC}/drivers/device/sim.cpp
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${PX4_SRC}/drivers/device/vdev.cpp
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${PX4_SRC}/drivers/device/vdev_posix.cpp
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${PX4_SRC}/drivers/device/vfile.cpp
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${PX4_SRC}/platforms/posix/px4_layer/drv_hrt.c
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@@ -114,6 +87,28 @@ add_library(px4_platform
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${PX4_SRC}/platforms/posix/work_queue/work_thread.c
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)
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target_include_directories(px4_platform PUBLIC ${PX4_SRC}/platforms)
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target_include_directories(px4_platform PUBLIC ${PX4_SRC}/platforms/posix/include)
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target_include_directories(px4_platform PUBLIC ${PX4_SRC}/platforms/posix/work_queue)
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# check
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add_custom_target(check
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COMMAND ${CMAKE_CTEST_COMMAND} -j2 --output-on-failure
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WORKING_DIR ${CMAKE_BINARY_DIR}
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USES_TERMINAL)
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# add_gtest
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function(add_gtest)
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foreach(test_name ${ARGN})
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if(${CMAKE_SYSTEM_NAME} MATCHES "Darwin")
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target_link_libraries(${test_name} gtest_main pthread px4_platform)
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else()
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target_link_libraries(${test_name} gtest_main pthread rt px4_platform)
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endif()
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||||
add_test(NAME ${test_name} COMMAND ${test_name} WORKING_DIRECTORY ${CMAKE_SOURCE_DIR})
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||||
add_dependencies(check ${test_name})
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||||
endforeach()
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||||
endfunction()
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||||
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||||
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#######################################################################
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@@ -122,64 +117,9 @@ target_include_directories(px4_platform PUBLIC ${PX4_SRC}/platforms)
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||||
# add_executable(example_test example_test.cpp)
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# add_gtest(example_test)
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||||
|
||||
# autodeclination_test
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||||
add_executable(autodeclination_test autodeclination_test.cpp ${PX4_SRC}/lib/geo_lookup/geo_mag_declination.c)
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add_gtest(autodeclination_test)
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||||
|
||||
# mixer_test
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||||
add_custom_command(OUTPUT ${PX4_SRC}/modules/systemlib/mixer/mixer_multirotor.generated.h
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COMMAND ${PX4_SRC}/modules/systemlib/mixer/multi_tables.py > ${PX4_SRC}/modules/systemlib/mixer/mixer_multirotor.generated.h)
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add_executable(mixer_test mixer_test.cpp
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||||
${PX4_SRC}/modules/systemlib/mixer/mixer.cpp
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||||
${PX4_SRC}/modules/systemlib/mixer/mixer_group.cpp
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||||
${PX4_SRC}/modules/systemlib/mixer/mixer_load.c
|
||||
${PX4_SRC}/modules/systemlib/mixer/mixer_multirotor.cpp
|
||||
${PX4_SRC}/modules/systemlib/mixer/mixer_multirotor.generated.h
|
||||
${PX4_SRC}/modules/systemlib/mixer/mixer_simple.cpp
|
||||
${PX4_SRC}/modules/systemlib/pwm_limit/pwm_limit.c
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||||
${PX4_SRC}/systemcmds/tests/test_mixer.cpp)
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||||
add_gtest(mixer_test)
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||||
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||||
# conversion_test
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||||
add_executable(conversion_test conversion_test.cpp ${PX4_SRC}/systemcmds/tests/test_conv.cpp)
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||||
add_gtest(conversion_test)
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||||
|
||||
# sbus2_test
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||||
add_executable(sbus2_test sbus2_test.cpp
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||||
${PX4_SRC}/lib/rc/sbus.c)
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||||
add_gtest(sbus2_test)
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||||
|
||||
# DSM test
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||||
add_executable(dsm_test dsm_test.cpp
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||||
${PX4_SRC}/lib/rc/dsm.c)
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||||
add_gtest(dsm_test)
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||||
|
||||
# st24_test
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||||
add_executable(rc_input_test st24_test.cpp sumd_test.cpp
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||||
${PX4_SRC}/lib/rc/st24.c
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||||
${PX4_SRC}/lib/rc/sumd.c)
|
||||
add_gtest(rc_input_test)
|
||||
|
||||
# sf0x_test
|
||||
add_executable(sf0x_test sf0x_test.cpp
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||||
${PX4_SRC}/drivers/sf0x/sf0x_parser.cpp)
|
||||
add_gtest(sf0x_test)
|
||||
|
||||
# param_test
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||||
add_executable(param_test param_test.cpp uorb_stub.cpp
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||||
${PX4_SRC}/modules/systemlib/bson/tinybson.c
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||||
${PX4_SRC}/modules/systemlib/param/param.c)
|
||||
target_link_libraries(param_test ${PX4_SITL_BUILD}/libmsg_gen.a)
|
||||
add_gtest(param_test)
|
||||
|
||||
# hysteresis_test
|
||||
add_executable(hysteresis_test hysteresis_test.cpp
|
||||
${PX4_SRC}/modules/systemlib/hysteresis/hysteresis.cpp)
|
||||
add_gtest(hysteresis_test)
|
||||
|
||||
# param_shmem_test
|
||||
#add_executable(param_shmem_test param_test.cpp uorb_stub.cpp
|
||||
# ${PX4_SRC}/modules/systemlib/bson/tinybson.c
|
||||
# ${PX4_SRC}/modules/systemlib/param/param_shmem.c)
|
||||
#add_gtest(param_shmem_test)
|
||||
|
||||
@@ -1,153 +0,0 @@
|
||||
#include <systemlib/hysteresis/hysteresis.h>
|
||||
|
||||
#include "gtest/gtest.h"
|
||||
|
||||
|
||||
TEST(HysteresisTest, InitFalse)
|
||||
{
|
||||
systemlib::Hysteresis hysteresis(false);
|
||||
ASSERT_FALSE(hysteresis.get_state());
|
||||
}
|
||||
|
||||
TEST(HysteresisTest, InitTrue)
|
||||
{
|
||||
systemlib::Hysteresis hysteresis(true);
|
||||
ASSERT_TRUE(hysteresis.get_state());
|
||||
}
|
||||
|
||||
TEST(HysteresisTest, ZeroCase)
|
||||
{
|
||||
// Default is 0 hysteresis.
|
||||
systemlib::Hysteresis hysteresis(false);
|
||||
ASSERT_FALSE(hysteresis.get_state());
|
||||
|
||||
// Change and see result immediately.
|
||||
hysteresis.set_state_and_update(true);
|
||||
ASSERT_TRUE(hysteresis.get_state());
|
||||
hysteresis.set_state_and_update(false);
|
||||
ASSERT_FALSE(hysteresis.get_state());
|
||||
hysteresis.set_state_and_update(true);
|
||||
ASSERT_TRUE(hysteresis.get_state());
|
||||
|
||||
// A wait won't change anything.
|
||||
usleep(1000);
|
||||
hysteresis.update();
|
||||
ASSERT_TRUE(hysteresis.get_state());
|
||||
}
|
||||
|
||||
TEST(HysteresisTest, ChangeAfterTime)
|
||||
{
|
||||
systemlib::Hysteresis hysteresis(false);
|
||||
hysteresis.set_hysteresis_time_from(false, 5000);
|
||||
hysteresis.set_hysteresis_time_from(true, 3000);
|
||||
|
||||
// Change to true.
|
||||
hysteresis.set_state_and_update(true);
|
||||
ASSERT_FALSE(hysteresis.get_state());
|
||||
usleep(4000);
|
||||
hysteresis.update();
|
||||
ASSERT_FALSE(hysteresis.get_state());
|
||||
usleep(2000);
|
||||
hysteresis.update();
|
||||
ASSERT_TRUE(hysteresis.get_state());
|
||||
|
||||
// Change back to false.
|
||||
hysteresis.set_state_and_update(false);
|
||||
ASSERT_TRUE(hysteresis.get_state());
|
||||
usleep(1000);
|
||||
hysteresis.update();
|
||||
ASSERT_TRUE(hysteresis.get_state());
|
||||
usleep(3000);
|
||||
hysteresis.update();
|
||||
ASSERT_FALSE(hysteresis.get_state());
|
||||
}
|
||||
|
||||
TEST(HysteresisTest, HysteresisChanged)
|
||||
{
|
||||
systemlib::Hysteresis hysteresis(false);
|
||||
hysteresis.set_hysteresis_time_from(true, 2000);
|
||||
hysteresis.set_hysteresis_time_from(false, 5000);
|
||||
|
||||
// Change to true.
|
||||
hysteresis.set_state_and_update(true);
|
||||
ASSERT_FALSE(hysteresis.get_state());
|
||||
usleep(3000);
|
||||
hysteresis.update();
|
||||
ASSERT_FALSE(hysteresis.get_state());
|
||||
usleep(3000);
|
||||
hysteresis.update();
|
||||
ASSERT_TRUE(hysteresis.get_state());
|
||||
|
||||
// Change hysteresis time.
|
||||
hysteresis.set_hysteresis_time_from(true, 10000);
|
||||
|
||||
// Change back to false.
|
||||
hysteresis.set_state_and_update(false);
|
||||
ASSERT_TRUE(hysteresis.get_state());
|
||||
usleep(7000);
|
||||
hysteresis.update();
|
||||
ASSERT_TRUE(hysteresis.get_state());
|
||||
usleep(5000);
|
||||
hysteresis.update();
|
||||
ASSERT_FALSE(hysteresis.get_state());
|
||||
}
|
||||
|
||||
TEST(HysteresisTest, ChangeAfterTimeMultipleSets)
|
||||
{
|
||||
systemlib::Hysteresis hysteresis(false);
|
||||
hysteresis.set_hysteresis_time_from(true, 5000);
|
||||
hysteresis.set_hysteresis_time_from(false, 5000);
|
||||
|
||||
// Change to true.
|
||||
hysteresis.set_state_and_update(true);
|
||||
ASSERT_FALSE(hysteresis.get_state());
|
||||
usleep(3000);
|
||||
hysteresis.set_state_and_update(true);
|
||||
ASSERT_FALSE(hysteresis.get_state());
|
||||
usleep(3000);
|
||||
hysteresis.set_state_and_update(true);
|
||||
ASSERT_TRUE(hysteresis.get_state());
|
||||
|
||||
// Change to false.
|
||||
hysteresis.set_state_and_update(false);
|
||||
ASSERT_TRUE(hysteresis.get_state());
|
||||
usleep(3000);
|
||||
hysteresis.set_state_and_update(false);
|
||||
ASSERT_TRUE(hysteresis.get_state());
|
||||
usleep(3000);
|
||||
hysteresis.set_state_and_update(false);
|
||||
ASSERT_FALSE(hysteresis.get_state());
|
||||
}
|
||||
|
||||
TEST(HysteresisTest, TakeChangeBack)
|
||||
{
|
||||
systemlib::Hysteresis hysteresis(false);
|
||||
hysteresis.set_hysteresis_time_from(false, 5000);
|
||||
|
||||
// Change to true.
|
||||
hysteresis.set_state_and_update(true);
|
||||
ASSERT_FALSE(hysteresis.get_state());
|
||||
usleep(3000);
|
||||
hysteresis.update();
|
||||
ASSERT_FALSE(hysteresis.get_state());
|
||||
// Change your mind to false.
|
||||
hysteresis.set_state_and_update(false);
|
||||
ASSERT_FALSE(hysteresis.get_state());
|
||||
usleep(6000);
|
||||
hysteresis.update();
|
||||
ASSERT_FALSE(hysteresis.get_state());
|
||||
|
||||
// And true again
|
||||
hysteresis.set_state_and_update(true);
|
||||
ASSERT_FALSE(hysteresis.get_state());
|
||||
usleep(3000);
|
||||
hysteresis.update();
|
||||
ASSERT_FALSE(hysteresis.get_state());
|
||||
usleep(3000);
|
||||
hysteresis.update();
|
||||
ASSERT_TRUE(hysteresis.get_state());
|
||||
|
||||
// The other directory is immediate.
|
||||
hysteresis.set_state_and_update(false);
|
||||
ASSERT_FALSE(hysteresis.get_state());
|
||||
}
|
||||
Reference in New Issue
Block a user