Added a simple unit test framework and initial testing some of the commander state machines.

2026-06-27 12:10:34 +08:00 · 2013-08-25 22:43:01 +02:00
parent 41dfdfb1a4
commit 548f322493
11 changed files with 599 additions and 8 deletions
@@ -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());
+    	}
+}