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e9fb17c51a
The threads running commands for clients through the Posix daemon used to write to a char buffer through snprintf (etc.) which was then written directly to the file descriptor, whereas in the other case printf (etc.) was used to write to stdout (FILE*). Both versions used some macro's and repeated code to have the same output. This change unifies these two cases by using a FILE* in both cases. The (line) buffering is done by the standard C library's implementation (just like with stdout), and px4_log.c now uses the same code in all cases (using fprintf, etc.) for printing (colored) output.
206 lines
4.9 KiB
C++
206 lines
4.9 KiB
C++
#include <unit_test.h>
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#include <unistd.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();
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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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// The CI system for Mac OS is not very fast
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#ifdef __PX4_DARWIN
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static const int f = 10;
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#else
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static const int f = 1;
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#endif
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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 * f);
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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 * f);
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hysteresis.set_hysteresis_time_from(true, 3000 * f);
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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 * f);
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hysteresis.update();
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ut_assert_false(hysteresis.get_state());
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usleep(2000 * f);
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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 * f);
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hysteresis.update();
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ut_assert_true(hysteresis.get_state());
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usleep(3000 * f);
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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 * f);
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hysteresis.set_hysteresis_time_from(false, 5000 * f);
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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 * f);
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hysteresis.update();
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ut_assert_false(hysteresis.get_state());
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usleep(3000 * f);
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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 * f);
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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 * f);
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hysteresis.update();
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ut_assert_true(hysteresis.get_state());
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usleep(5000 * f);
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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 * f);
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hysteresis.set_hysteresis_time_from(false, 5000 * f);
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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 * f);
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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 * f);
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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 * f);
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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 * f);
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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 * f);
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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 * f);
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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 * f);
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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 * f);
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hysteresis.update();
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ut_assert_false(hysteresis.get_state());
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usleep(3000 * f);
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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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