From 11143def8214886873aec132df5bbc4c20dcf5f4 Mon Sep 17 00:00:00 2001 From: RomanBapst Date: Thu, 15 Dec 2022 15:32:11 +0300 Subject: [PATCH] tried to add functional unit test Signed-off-by: RomanBapst --- .../MissionFeasibility/CMakeLists.txt | 3 +- .../FeasibilityCheckerTest.cpp | 57 +++++++++++++++++++ 2 files changed, 59 insertions(+), 1 deletion(-) create mode 100644 src/modules/navigator/MissionFeasibility/FeasibilityCheckerTest.cpp diff --git a/src/modules/navigator/MissionFeasibility/CMakeLists.txt b/src/modules/navigator/MissionFeasibility/CMakeLists.txt index d2dc9ad1d9..bebf2fa5df 100644 --- a/src/modules/navigator/MissionFeasibility/CMakeLists.txt +++ b/src/modules/navigator/MissionFeasibility/CMakeLists.txt @@ -1,4 +1,5 @@ px4_add_library(mission_feasibility_checker - FeasibilityChecker.hpp FeasibilityChecker.cpp ) + +px4_add_functional_gtest(SRC FeasibilityCheckerTest.cpp LINKLIBS mission_feasibility_checker test_stubs) diff --git a/src/modules/navigator/MissionFeasibility/FeasibilityCheckerTest.cpp b/src/modules/navigator/MissionFeasibility/FeasibilityCheckerTest.cpp new file mode 100644 index 0000000000..727581ca2e --- /dev/null +++ b/src/modules/navigator/MissionFeasibility/FeasibilityCheckerTest.cpp @@ -0,0 +1,57 @@ +/**************************************************************************** + * + * Copyright (C) 2022 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include +#include "FeasibilityChecker.hpp" + +// to run: make tests TESTFILTER=FeasibilityChecker + +class FeasibilityCheckerTest : public ::testing::Test +{ +public: + void SetUp() override + { + param_control_autosave(false); + param_reset_all(); + } +}; + +class TestFeasibilityChecker : public FeasibilityChecker +{ +public: + TestFeasibilityChecker() : FeasibilityChecker() {} + void paramsChanged() {FeasibilityChecker::updateParamsImpl();} +}; + + +TEST_F(FeasibilityCheckerTest, instantiation) { FeasibilityChecker cp(); }