Testing cleanup from Daniel Agar

2026-06-27 21:30:35 +08:00 · 2016-07-29 13:27:58 +02:00
parent 99aa5f49fc
commit 6ab9dc0acf
56 changed files with 1930 additions and 3416 deletions
@@ -0,0 +1,149 @@
+#include <unit_test/unit_test.h>
+
+#include <errno.h>
+#include <fcntl.h>
+#include <float.h>
+#include <math.h>
+#include <px4_config.h>
+#include <stdint.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <sys/types.h>
+#include <unistd.h>
+
+typedef union {
+	float f;
+	double d;
+	uint8_t b[8];
+} test_float_double_t;
+
+
+
+class FloatTest : public UnitTest
+{
+public:
+	virtual bool run_tests(void);
+
+private:
+	bool singlePrecisionTests();
+	bool doublePrecisionTests();
+};
+
+bool FloatTest::singlePrecisionTests(void)
+{
+	float sinf_zero = sinf(0.0f);
+	float sinf_one = sinf(1.0f);
+	float sqrt_two = sqrt(2.0f);
+
+	ut_assert("sinf(0.0f) == 0.0f", fabsf(sinf_zero) < FLT_EPSILON);
+	ut_assert("sinf(1.0f) == 0.84147f", fabsf((sinf_one - 0.841470956802368164062500000000f)) < FLT_EPSILON);
+
+	float asinf_one = asinf(1.0f);
+	ut_assert("asinf(1.0f) == 1.57079f", fabsf((asinf_one - 1.570796251296997070312500000000f)) < FLT_EPSILON * 1.5f);
+
+	float cosf_one = cosf(1.0f);
+	ut_assert("cosf(1.0f) == 0.54030f", fabsf((cosf_one - 0.540302336215972900390625000000f)) < FLT_EPSILON);
+
+	float acosf_one = acosf(1.0f);
+	ut_assert("acosf(1.0f) == 0.0f", fabsf((acosf_one - 0.000000000000000000000000000000f)) < FLT_EPSILON);
+
+	float sinf_zero_one = sinf(0.1f);
+	ut_assert("sinf(0.1f) == 0.09983f", fabsf(sinf_zero_one - 0.0998334166f) < FLT_EPSILON);
+
+	ut_assert("sqrt(2.0f) == 1.41421f", fabsf(sqrt_two - 1.41421356f) < FLT_EPSILON);
+
+	float atan2f_ones = atan2f(1.0f, 1.0f);
+	ut_assert("atan2f(1.0f, 1.0f) == 0.78539f",
+		  fabsf(atan2f_ones - 0.785398163397448278999490867136f) < 2.0f * FLT_EPSILON);
+
+	char sbuf[30];
+	sprintf(sbuf, "%8.4f", (double)0.553415f);
+	ut_compare("sbuf[0]", sbuf[0], ' ');
+	ut_compare("sbuf[1]", sbuf[1], ' ');
+	ut_compare("sbuf[2]", sbuf[2], '0');
+	ut_compare("sbuf[3]", sbuf[3], '.');
+	ut_compare("sbuf[4]", sbuf[4], '5');
+	ut_compare("sbuf[5]", sbuf[5], '5');
+	ut_compare("sbuf[6]", sbuf[6], '3');
+	ut_compare("sbuf[7]", sbuf[7], '4');
+	ut_compare("sbuf[8]", sbuf[8], '\0');
+
+	sprintf(sbuf, "%8.4f", (double) - 0.553415f);
+	ut_compare("sbuf[0]", sbuf[0], ' ');
+	ut_compare("sbuf[1]", sbuf[1], '-');
+	ut_compare("sbuf[2]", sbuf[2], '0');
+	ut_compare("sbuf[3]", sbuf[3], '.');
+	ut_compare("sbuf[4]", sbuf[4], '5');
+	ut_compare("sbuf[5]", sbuf[5], '5');
+	ut_compare("sbuf[6]", sbuf[6], '3');
+	ut_compare("sbuf[7]", sbuf[7], '4');
+	ut_compare("sbuf[8]", sbuf[8], '\0');
+
+	return true;
+}
+
+
+bool FloatTest::doublePrecisionTests(void)
+{
+	float f1 = 1.55f;
+
+	double d1 = 1.0111;
+	double d2 = 2.0;
+
+	double d1d2 = d1 * d2;
+
+	ut_assert("1.0111 * 2.0 == 2.0222", fabs(d1d2 - 2.022200000000000219557705349871) < DBL_EPSILON);
+
+	// Assign value of f1 to d1
+	d1 = f1;
+
+	ut_assert("(float) 1.55f == 1.55 (double)", fabsf(f1 - (float)d1) < FLT_EPSILON);
+
+
+	double sin_zero = sin(0.0);
+	double sin_one = sin(1.0);
+	double atan2_ones = atan2(1.0, 1.0);
+
+	ut_assert("sin(0.0) == 0.0", fabs(sin_zero - 0.0) < DBL_EPSILON);
+	ut_assert("sin(1.0) == 0.84147098480", fabs(sin_one - 0.841470984807896504875657228695) < DBL_EPSILON);
+	ut_assert("atan2(1.0, 1.0) == 0.785398", fabs(atan2_ones - 0.785398163397448278999490867136) < 2.0 * DBL_EPSILON);
+	ut_assert("testing pow() with magic value",
+		  (44330.0 * (1.0 - pow((96286LL / 101325.0), 0.190295))) - 428.2293 <  DBL_EPSILON);
+
+
+	char sbuf[30];
+	sprintf(sbuf, "%8.4f", 0.553415);
+	ut_compare("sbuf[0]", sbuf[0], ' ');
+	ut_compare("sbuf[1]", sbuf[1], ' ');
+	ut_compare("sbuf[2]", sbuf[2], '0');
+	ut_compare("sbuf[3]", sbuf[3], '.');
+	ut_compare("sbuf[4]", sbuf[4], '5');
+	ut_compare("sbuf[5]", sbuf[5], '5');
+	ut_compare("sbuf[6]", sbuf[6], '3');
+	ut_compare("sbuf[7]", sbuf[7], '4');
+	ut_compare("sbuf[8]", sbuf[8], '\0');
+
+
+	sprintf(sbuf, "%8.4f", -0.553415);
+	ut_compare("sbuf[0]", sbuf[0], ' ');
+	ut_compare("sbuf[1]", sbuf[1], '-');
+	ut_compare("sbuf[2]", sbuf[2], '0');
+	ut_compare("sbuf[3]", sbuf[3], '.');
+	ut_compare("sbuf[4]", sbuf[4], '5');
+	ut_compare("sbuf[5]", sbuf[5], '5');
+	ut_compare("sbuf[6]", sbuf[6], '3');
+	ut_compare("sbuf[7]", sbuf[7], '4');
+	ut_compare("sbuf[8]", sbuf[8], '\0');
+
+	return true;
+}
+
+bool FloatTest::run_tests(void)
+{
+	ut_run_test(singlePrecisionTests);
+	ut_run_test(doublePrecisionTests);
+
+	return (_tests_failed == 0);
+}
+
+ut_declare_test_c(test_float, FloatTest)