added unit test directive to switch out parameter storage

src/modules/systemlib/param/param.c

@@ -70,9 +70,16 @@
 /**
  * Array of static parameter info.
  */
-struct param_info_s	param_array[2];
+#ifdef _UNIT_TEST
-static const struct param_info_s	*param_info_base = (struct param_info_s *) &param_array[0];
+	extern struct param_info_s	param_array[];
-static const struct param_info_s	*param_info_limit = (struct param_info_s *) &param_array[1];
+	extern struct param_info_s	*param_info_base;
+	extern struct param_info_s	*param_info_limit;
+#else
+	extern char __param_start, __param_end;
+	static const struct param_info_s *param_info_base = (struct param_info_s *) &__param_start;
+	static const struct param_info_s *param_info_limit = (struct param_info_s *) &__param_end;
+#endif
+
 #define	param_info_count		((unsigned)(param_info_limit - param_info_base))
 
 /**
@@ -200,14 +207,10 @@ param_notify_changes(void)
 param_t
 param_find(const char *name)
 {
-	warn("debug info count %i\n", param_count());
-	//warn("start: %i\n", __param_start);
-
 	param_t param;
 
 	/* perform a linear search of the known parameters */
 	for (param = 0; handle_in_range(param); param++) {
-		warn("param find: %s", param_info_base[param].name);
 		if (!strcmp(param_info_base[param].name, name))
 			return param;
 	}

unittests/CMakeLists.txt

@@ -31,6 +31,7 @@ add_definitions(-Dnoreturn_function=)
 add_definitions(-Dmain_t=int)
 add_definitions(-DERROR=-1)
 add_definitions(-DOK=0)
+add_definitions(-D_UNIT_TEST=)
 
 # check
 add_custom_target(unittests COMMAND ${CMAKE_CTEST_COMMAND} --output-on-failure)
@@ -81,10 +82,8 @@ add_gtest(sf0x_test)
 # param_test
 add_executable(param_test param_test.cpp
                           hrt.cpp
-                          stubs.cpp
+                          uorb_stub.cpp
-                          ${PX_SRC}/modules/systemlib/visibility.h
                           ${PX_SRC}/modules/systemlib/param/param.c
                           ${PX_SRC}/modules/systemlib/bson/tinybson.c
-                          ${PX_SRC}/drivers/drv_hrt.h
                           )
 add_gtest(param_test)

unittests/param_test.cpp

@@ -3,33 +3,28 @@
 
 #include "gtest/gtest.h"
 
-//#PARAM_DEFINE_INT32(TEST_A, 5);
+static const struct param_info_s test_1 = {
-
+	"TEST_1",
-
-static const struct param_info_s testparam = {
-	"test",
 	PARAM_TYPE_INT32,
 	.val.i = 2
 };
 
-
+struct param_info_s	param_array[256];
-extern param_info_s *__param_start, *__param_end;
+struct param_info_s	*param_info_base;
-extern struct param_info_s	param_array[];
+struct param_info_s	*param_info_limit;
-const struct param_info_s	*ib = __param_start;
-const struct param_info_s	*il = __param_end;
 
 TEST(ParamTest, ResetAll) {
-	param_array[0] = testparam;
+	param_array[0] = test_1;
+	param_info_base = (struct param_info_s *) &param_array[0];
+	param_info_limit = (struct param_info_s *) &param_array[1];
 
-	printf("diff: %i\n", (unsigned)(il - ib));
+	printf("diff: %i\n", (unsigned)(param_info_limit - param_info_base));
-	printf("start: %i\n", __param_start);
-	printf("end: %i\n", __param_end);
 	
-	param_t testparam = param_find("test");
+	param_t test_1 = param_find("TEST_1");
-	ASSERT_NE(PARAM_INVALID, testparam) << "param_find failed";
+	ASSERT_NE(PARAM_INVALID, test_1) << "param_find failed";
 
 	int32_t value;
-	int result = param_get(testparam, &value);
+	int result = param_get(test_1, &value);
 	ASSERT_EQ(0, result) << "param_get failed";
 	ASSERT_EQ(2, value) << "wrong param value";
 

unittests/uorb_stub.cpp

@@ -0,0 +1,21 @@
+#include <stdint.h>
+#include <sys/types.h>
+//#include "gmock/gmock.h"
+
+#include "uORB/uORB.h"
+
+/******************************************
+ * uORB stubs (incomplete)
+ *
+ * TODO: use googlemock
+******************************************/
+
+orb_advert_t orb_advertise(const struct orb_metadata *meta, const void *data) {
+	return (orb_advert_t)0;
+}
+
+int	orb_publish(const struct orb_metadata *meta, orb_advert_t handle, const void *data) {
+	return 0;
+}
+
+