unit_tests: move hysteresis test to new framework

src/systemcmds/tests/CMakeLists.txt

@@ -34,6 +34,7 @@
 set(srcs
 	test_adc.c
 	test_autodeclination.cpp
+	test_hysteresis.cpp
 	test_bson.c
 	test_conv.cpp
 	test_file.c
@@ -86,4 +87,4 @@ px4_add_module(
 	DEPENDS
 		platforms__common
 	)
-# vim: set noet ft=cmake fenc=utf-8 ff=unix : 
+# vim: set noet ft=cmake fenc=utf-8 ff=unix :

src/systemcmds/tests/test_hysteresis.cpp

@@ -0,0 +1,196 @@
+#include <unit_test/unit_test.h>
+
+#include <systemlib/hysteresis/hysteresis.h>
+
+class HysteresisTest : public UnitTest
+{
+public:
+	virtual bool run_tests(void);
+
+private:
+	bool _init_false();
+	bool _init_true();
+	bool _zero_case();
+	bool _change_after_time();
+	bool _hysteresis_changed();
+	bool _change_after_multiple_sets();
+	bool _take_change_back();
+};
+
+bool HysteresisTest::run_tests()
+{
+	ut_run_test(_init_false);
+	ut_run_test(_init_true);
+	ut_run_test(_zero_case);
+	ut_run_test(_change_after_time);
+	ut_run_test(_hysteresis_changed);
+	ut_run_test(_change_after_multiple_sets);
+	ut_run_test(_take_change_back);
+
+	return (_tests_failed == 0);
+}
+
+bool HysteresisTest::_init_false()
+{
+	systemlib::Hysteresis hysteresis(false);
+	ut_assert_false(hysteresis.get_state());
+
+	return true;
+}
+
+bool HysteresisTest::_init_true()
+{
+	systemlib::Hysteresis hysteresis(true);
+	ut_assert_true(hysteresis.get_state());
+
+	return true;
+}
+
+bool HysteresisTest::_zero_case()
+{
+	// Default is 0 hysteresis.
+	systemlib::Hysteresis hysteresis(false);
+	ut_assert_false(hysteresis.get_state());
+
+	// Change and see result immediately.
+	hysteresis.set_state_and_update(true);
+	ut_assert_true(hysteresis.get_state());
+	hysteresis.set_state_and_update(false);
+	ut_assert_false(hysteresis.get_state());
+	hysteresis.set_state_and_update(true);
+	ut_assert_true(hysteresis.get_state());
+
+	// A wait won't change anything.
+	usleep(1000);
+	hysteresis.update();
+	ut_assert_true(hysteresis.get_state());
+
+	return true;
+}
+
+bool HysteresisTest::_change_after_time()
+{
+	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);
+	ut_assert_false(hysteresis.get_state());
+	usleep(4000);
+	hysteresis.update();
+	ut_assert_false(hysteresis.get_state());
+	usleep(2000);
+	hysteresis.update();
+	ut_assert_true(hysteresis.get_state());
+
+	// Change back to false.
+	hysteresis.set_state_and_update(false);
+	ut_assert_true(hysteresis.get_state());
+	usleep(1000);
+	hysteresis.update();
+	ut_assert_true(hysteresis.get_state());
+	usleep(3000);
+	hysteresis.update();
+	ut_assert_false(hysteresis.get_state());
+
+	return true;
+}
+
+bool HysteresisTest::_hysteresis_changed()
+{
+	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);
+	ut_assert_false(hysteresis.get_state());
+	usleep(3000);
+	hysteresis.update();
+	ut_assert_false(hysteresis.get_state());
+	usleep(3000);
+	hysteresis.update();
+	ut_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);
+	ut_assert_true(hysteresis.get_state());
+	usleep(7000);
+	hysteresis.update();
+	ut_assert_true(hysteresis.get_state());
+	usleep(5000);
+	hysteresis.update();
+	ut_assert_false(hysteresis.get_state());
+
+	return true;
+}
+
+bool HysteresisTest::_change_after_multiple_sets()
+{
+	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);
+	ut_assert_false(hysteresis.get_state());
+	usleep(3000);
+	hysteresis.set_state_and_update(true);
+	ut_assert_false(hysteresis.get_state());
+	usleep(3000);
+	hysteresis.set_state_and_update(true);
+	ut_assert_true(hysteresis.get_state());
+
+	// Change to false.
+	hysteresis.set_state_and_update(false);
+	ut_assert_true(hysteresis.get_state());
+	usleep(3000);
+	hysteresis.set_state_and_update(false);
+	ut_assert_true(hysteresis.get_state());
+	usleep(3000);
+	hysteresis.set_state_and_update(false);
+	ut_assert_false(hysteresis.get_state());
+
+	return true;
+}
+
+bool HysteresisTest::_take_change_back()
+{
+	systemlib::Hysteresis hysteresis(false);
+	hysteresis.set_hysteresis_time_from(false, 5000);
+
+	// Change to true.
+	hysteresis.set_state_and_update(true);
+	ut_assert_false(hysteresis.get_state());
+	usleep(3000);
+	hysteresis.update();
+	ut_assert_false(hysteresis.get_state());
+	// Change your mind to false.
+	hysteresis.set_state_and_update(false);
+	ut_assert_false(hysteresis.get_state());
+	usleep(6000);
+	hysteresis.update();
+	ut_assert_false(hysteresis.get_state());
+
+	// And true again
+	hysteresis.set_state_and_update(true);
+	ut_assert_false(hysteresis.get_state());
+	usleep(3000);
+	hysteresis.update();
+	ut_assert_false(hysteresis.get_state());
+	usleep(3000);
+	hysteresis.update();
+	ut_assert_true(hysteresis.get_state());
+
+	// The other directory is immediate.
+	hysteresis.set_state_and_update(false);
+	ut_assert_false(hysteresis.get_state());
+
+	return true;
+}
+
+ut_declare_test_c(test_hysteresis, HysteresisTest)

src/systemcmds/tests/tests.h

@@ -74,6 +74,7 @@ __BEGIN_DECLS
 
 extern int	test_adc(int argc, char *argv[]);
 extern int	test_autodeclination(int argc, char *argv[]);
+extern int	test_hysteresis(int argc, char *argv[]);
 extern int	test_bson(int argc, char *argv[]);
 extern int	test_conv(int argc, char *argv[]);
 extern int	test_file(int argc, char *argv[]);

src/systemcmds/tests/tests_main.c

@@ -97,6 +97,7 @@ const struct {
 	{"uorb",		uorb_tests_main,	0},
 
 	{"autodeclination",		test_autodeclination,	0},
+	{"hysteresis",		test_hysteresis,	0},
 	{"bson",		test_bson,	0},
 	{"conv",		test_conv, 0},
 	{"file",		test_file,	OPT_NOJIGTEST | OPT_NOALLTEST},