Merge pull request #15 from sjwilks/multirotor_unittests

Add a simple unit testing framework and tests for the commander state machine.

src/modules/commander/commander_tests/commander_tests.cpp

@@ -0,0 +1,55 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
+ *   Author: Simon Wilks <sjwilks@gmail.com>
+ *
+ * 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file commander_tests.cpp
+ * Commander unit tests. Run the tests as follows:
+ *   nsh> commander_tests
+ *
+ */
+
+#include <systemlib/err.h>
+
+#include "state_machine_helper_test.h"
+
+extern "C" __EXPORT int commander_tests_main(int argc, char *argv[]);
+
+
+int commander_tests_main(int argc, char *argv[])
+{
+	state_machine_helper_test();
+	//state_machine_test();
+
+	return 0;
+}

src/modules/commander/commander_tests/module.mk

@@ -0,0 +1,41 @@
+############################################################################
+#
+#   Copyright (c) 2013 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.
+#
+############################################################################
+
+#
+# System state machine tests.
+#
+
+MODULE_COMMAND		= commander_tests
+SRCS			= commander_tests.cpp \
+			state_machine_helper_test.cpp \
+			../state_machine_helper.cpp

src/modules/commander/commander_tests/state_machine_helper_test.cpp

@@ -0,0 +1,247 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
+ *   Author: Simon Wilks <sjwilks@gmail.com>
+ *
+ * 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file state_machine_helper_test.cpp
+ * System state machine unit test.
+ *
+ */
+
+#include "state_machine_helper_test.h"
+
+#include "../state_machine_helper.h"
+#include <unit_test/unit_test.h>
+
+class StateMachineHelperTest : public UnitTest
+{
+public:
+	StateMachineHelperTest();
+	virtual ~StateMachineHelperTest();
+
+	virtual const char*	run_tests();
+
+private:
+	const char*	arming_state_transition_test();
+	const char*	arming_state_transition_arm_disarm_test();
+	const char*	main_state_transition_test();
+	const char*	is_safe_test();
+};
+
+StateMachineHelperTest::StateMachineHelperTest() {
+}
+
+StateMachineHelperTest::~StateMachineHelperTest() {
+}
+
+const char*
+StateMachineHelperTest::arming_state_transition_test()
+{
+	struct vehicle_status_s status;
+	struct safety_s safety;
+	arming_state_t new_arming_state;
+	struct actuator_armed_s armed;
+
+	// Identical states.
+	status.arming_state = ARMING_STATE_INIT;
+	new_arming_state = ARMING_STATE_INIT;
+	mu_assert("no transition: identical states",
+		  TRANSITION_NOT_CHANGED == arming_state_transition(&status, &safety, new_arming_state, &armed));
+
+	// INIT to STANDBY.
+	armed.armed = false;
+	armed.ready_to_arm = false;
+	status.arming_state = ARMING_STATE_INIT;
+	status.condition_system_sensors_initialized = true;
+	new_arming_state = ARMING_STATE_STANDBY;
+	mu_assert("transition: init to standby",
+		  TRANSITION_CHANGED == arming_state_transition(&status, &safety, new_arming_state, &armed));
+	mu_assert("current state: standby", ARMING_STATE_STANDBY == status.arming_state);
+	mu_assert("not armed", !armed.armed);
+	mu_assert("ready to arm", armed.ready_to_arm);
+
+	// INIT to STANDBY, sensors not initialized.
+	armed.armed = false;
+	armed.ready_to_arm = false;
+	status.arming_state = ARMING_STATE_INIT;
+	status.condition_system_sensors_initialized = false;
+	new_arming_state = ARMING_STATE_STANDBY;
+	mu_assert("no transition: sensors not initialized",
+		  TRANSITION_DENIED == arming_state_transition(&status, &safety, new_arming_state, &armed));
+	mu_assert("current state: init", ARMING_STATE_INIT == status.arming_state);
+	mu_assert("not armed", !armed.armed);
+	mu_assert("not ready to arm", !armed.ready_to_arm);
+
+	return 0;
+}
+
+const char*
+StateMachineHelperTest::arming_state_transition_arm_disarm_test()
+{
+	struct vehicle_status_s status;
+	struct safety_s safety;
+	arming_state_t new_arming_state;
+	struct actuator_armed_s armed;
+
+	// TODO(sjwilks): ARM then DISARM.
+	return 0;
+}
+
+const char*
+StateMachineHelperTest::main_state_transition_test()
+{
+	struct vehicle_status_s current_state;
+	main_state_t new_main_state;
+	
+	// Identical states.
+	current_state.main_state = MAIN_STATE_MANUAL;
+	new_main_state = MAIN_STATE_MANUAL;
+	mu_assert("no transition: identical states",
+		  TRANSITION_NOT_CHANGED == main_state_transition(&current_state, new_main_state));
+	mu_assert("current state: manual", MAIN_STATE_MANUAL == current_state.main_state);	
+
+	// AUTO to MANUAL.
+	current_state.main_state = MAIN_STATE_AUTO;
+	new_main_state = MAIN_STATE_MANUAL;
+	mu_assert("transition changed: auto to manual",
+		  TRANSITION_CHANGED == main_state_transition(&current_state, new_main_state));
+	mu_assert("new state: manual", MAIN_STATE_MANUAL == current_state.main_state);
+
+	// MANUAL to SEATBELT.
+	current_state.main_state = MAIN_STATE_MANUAL;
+	current_state.condition_local_altitude_valid = true;
+	new_main_state = MAIN_STATE_SEATBELT;
+	mu_assert("tranisition: manual to seatbelt", 
+		  TRANSITION_CHANGED == main_state_transition(&current_state, new_main_state));
+	mu_assert("new state: seatbelt", MAIN_STATE_SEATBELT == current_state.main_state);
+
+	// MANUAL to SEATBELT, invalid local altitude.
+	current_state.main_state = MAIN_STATE_MANUAL;
+	current_state.condition_local_altitude_valid = false;
+	new_main_state = MAIN_STATE_SEATBELT;
+	mu_assert("no transition: invalid local altitude",
+		  TRANSITION_DENIED == main_state_transition(&current_state, new_main_state));
+	mu_assert("current state: manual", MAIN_STATE_MANUAL == current_state.main_state);
+
+	// MANUAL to EASY.
+	current_state.main_state = MAIN_STATE_MANUAL;
+	current_state.condition_local_position_valid = true;
+	new_main_state = MAIN_STATE_EASY;
+	mu_assert("transition: manual to easy",
+		  TRANSITION_CHANGED == main_state_transition(&current_state, new_main_state));
+	mu_assert("current state: easy", MAIN_STATE_EASY == current_state.main_state);
+
+	// MANUAL to EASY, invalid local position.
+	current_state.main_state = MAIN_STATE_MANUAL;
+	current_state.condition_local_position_valid = false;
+	new_main_state = MAIN_STATE_EASY;
+	mu_assert("no transition: invalid position",
+		  TRANSITION_DENIED == main_state_transition(&current_state, new_main_state));
+	mu_assert("current state: manual", MAIN_STATE_MANUAL == current_state.main_state);
+
+	// MANUAL to AUTO.
+	current_state.main_state = MAIN_STATE_MANUAL;
+	current_state.condition_global_position_valid = true;
+	new_main_state = MAIN_STATE_AUTO;
+	mu_assert("transition: manual to auto",
+		  TRANSITION_CHANGED == main_state_transition(&current_state, new_main_state));
+	mu_assert("current state: auto", MAIN_STATE_AUTO == current_state.main_state);
+
+	// MANUAL to AUTO, invalid global position.
+	current_state.main_state = MAIN_STATE_MANUAL;
+	current_state.condition_global_position_valid = false;
+	new_main_state = MAIN_STATE_AUTO;
+	mu_assert("no transition: invalid global position",
+		  TRANSITION_DENIED == main_state_transition(&current_state, new_main_state));
+	mu_assert("current state: manual", MAIN_STATE_MANUAL == current_state.main_state);
+
+	return 0;
+}
+
+const char*
+StateMachineHelperTest::is_safe_test()
+{
+	struct vehicle_status_s current_state;
+	struct safety_s safety;
+	struct actuator_armed_s armed;
+
+	armed.armed = false;
+	armed.lockdown = false;
+	safety.safety_switch_available = true;
+	safety.safety_off = false;
+	mu_assert("is safe: not armed", is_safe(&current_state, &safety, &armed));
+
+	armed.armed = false;
+	armed.lockdown = true;
+	safety.safety_switch_available = true;
+	safety.safety_off = true;
+	mu_assert("is safe: software lockdown", is_safe(&current_state, &safety, &armed));
+
+	armed.armed = true;
+	armed.lockdown = false;
+	safety.safety_switch_available = true;
+	safety.safety_off = true;
+	mu_assert("not safe: safety off", !is_safe(&current_state, &safety, &armed));
+
+	armed.armed = true;
+	armed.lockdown = false;
+	safety.safety_switch_available = true;
+	safety.safety_off = false;
+	mu_assert("is safe: safety off", is_safe(&current_state, &safety, &armed));
+
+	armed.armed = true;
+	armed.lockdown = false;
+	safety.safety_switch_available = false;
+	safety.safety_off = false;
+	mu_assert("not safe: no safety switch", !is_safe(&current_state, &safety, &armed));
+
+	return 0;
+}
+
+const char*
+StateMachineHelperTest::run_tests()
+{
+	mu_run_test(arming_state_transition_test);
+	mu_run_test(arming_state_transition_arm_disarm_test);
+	mu_run_test(main_state_transition_test);
+	mu_run_test(is_safe_test);
+
+	return 0;
+}
+
+void
+state_machine_helper_test()
+{
+	StateMachineHelperTest* test = new StateMachineHelperTest();
+	test->UnitTest::print_results(test->run_tests());
+}

src/modules/commander/commander_tests/state_machine_helper_test.h

@@ -0,0 +1,44 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
+ *   Author: Simon Wilks <sjwilks@gmail.com>
+ *
+ * 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file state_machine_helper_test.h
+ */
+
+#ifndef STATE_MACHINE_HELPER_TEST_H_
+#define STATE_MACHINE_HELPER_TEST_
+
+void state_machine_helper_test();
+
+#endif /* STATE_MACHINE_HELPER_TEST_H_ */

src/modules/test/foo.c

@@ -1,4 +0,0 @@
-int test_main(void)
-{
-	return 0;
-}

src/modules/test/module.mk

@@ -1,4 +0,0 @@
-
-MODULE_NAME	 = test
-SRCS		 = foo.c
-

src/modules/unit_test/module.mk

@@ -0,0 +1,39 @@
+############################################################################
+#
+#   Copyright (c) 2013 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.
+#
+############################################################################
+
+#
+# Makefile to build the unit test library.
+#
+
+SRCS		 = unit_test.cpp
+

src/modules/unit_test/unit_test.cpp

@@ -0,0 +1,65 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
+ *   Author: Simon Wilks <sjwilks@gmail.com>
+ *
+ * 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file unit_test.cpp
+ * A unit test library.
+ *
+ */
+
+#include "unit_test.h"
+
+#include <systemlib/err.h>
+
+
+UnitTest::UnitTest()
+{
+}
+
+UnitTest::~UnitTest()
+{
+}
+
+void
+UnitTest::print_results(const char* result)
+{
+	if (result != 0) {
+        	warnx("Failed: %s:%d", mu_last_test(), mu_line());
+        	warnx("%s", result);
+    	} else {
+        	warnx("ALL TESTS PASSED");
+        	warnx("  Tests run : %d", mu_tests_run());
+        	warnx("  Assertion : %d", mu_assertion());
+    	}
+}

src/modules/unit_test/unit_test.h

@@ -0,0 +1,93 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
+ *   Author: Simon Wilks <sjwilks@gmail.com>
+ *
+ * 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file unit_test.h
+ * A unit test library based on MinUnit (http://www.jera.com/techinfo/jtns/jtn002.html).
+ *
+ */
+
+#ifndef UNIT_TEST_H_
+#define UNIT_TEST_
+
+#include <systemlib/err.h>
+
+
+class __EXPORT UnitTest
+{
+
+public:
+#define xstr(s) str(s)
+#define str(s) #s
+#define INLINE_GLOBAL(type,func) inline type& func() { static type x; return x; }
+
+INLINE_GLOBAL(int, mu_tests_run)
+INLINE_GLOBAL(int, mu_assertion)
+INLINE_GLOBAL(int, mu_line)
+INLINE_GLOBAL(const char*, mu_last_test)
+
+#define mu_assert(message, test)                                           \
+    do                                                                     \
+    {                                                                      \
+        if (!(test))                                                       \
+            return __FILE__ ":" xstr(__LINE__) " " message " (" #test ")"; \
+        else                                                               \
+            mu_assertion()++;                                              \
+    } while (0)
+
+
+#define mu_run_test(test)                                                  \
+do                                                                         \
+{                                                                          \
+    const char *message;                                                   \
+    mu_last_test() = #test;                                                \
+    mu_line() = __LINE__;                                                  \
+    message = test();                                                      \
+    mu_tests_run()++;                                                      \
+    if (message)                                                           \
+        return message;                                                    \
+} while (0)
+
+
+public:
+	UnitTest();
+    virtual ~UnitTest();
+
+    virtual const char*     run_tests() = 0;
+    virtual void            print_results(const char* result);
+};
+
+
+
+#endif /* UNIT_TEST_H_ */