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hysteresis: move out of systemlib, move to gtest

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This moves the hysteresis test out of the systemlib and makes it its own
small library. Since it still depends on hrt_absolute_time this does not
link yet. My attempt to get all link dependencies together failed.
This commit is contained in:
Julian Oes
2019-05-27 09:57:50 +02:00
parent b849991494
commit 7b9562e3b1
16 changed files with 88 additions and 99 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/lib/CMakeLists.txt
+1
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@@ -45,6 +45,7 @@ add_subdirectory(conversion)
add_subdirectory(drivers)
add_subdirectory(ecl)
add_subdirectory(FlightTasks)
add_subdirectory(hysteresis)
add_subdirectory(landing_slope)
add_subdirectory(led)
add_subdirectory(mathlib)
src/lib/cdev/CMakeLists.txt
+1 -1
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@@ -50,4 +50,4 @@ px4_add_library(cdev
if(PX4_TESTING)
add_subdirectory(test)
endif()
endif()
src/lib/hysteresis/CMakeLists.txt
+36
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@@ -0,0 +1,36 @@
############################################################################
#
# Copyright (c) 2019 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.
#
############################################################################
px4_add_library(hysteresis hysteresis.cpp)
px4_add_gtest(SRC hysteresis_test.cpp LINKLIBS hysteresis)
src/lib/systemlib/hysteresis/hysteresis.cpp → src/lib/hysteresis/hysteresis.cpp
View File
src/lib/systemlib/hysteresis/hysteresis.h → src/lib/hysteresis/hysteresis.h
View File
src/lib/hysteresis/hysteresis_test.cpp
+200
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@@ -0,0 +1,200 @@
/****************************************************************************
*
* Copyright (C) 2012-2019 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.
*
****************************************************************************/
/**
* @file hysteresis_test.cpp
* Tests for system timing hysteresis.
*/
#include <gtest/gtest.h>
#include <unistd.h>
#include "hysteresis.h"
#if defined(__PX4_DARWIN) || defined(__PX4_CYGWIN)
static const int f = 10;
#else
static const int f = 1;
#endif
TEST(Hysteresis, InitFalse)
{
systemlib::Hysteresis hysteresis(false);
EXPECT_FALSE(hysteresis.get_state());
}
TEST(Hysteresis, InitTrue)
{
systemlib::Hysteresis hysteresis(true);
EXPECT_TRUE(hysteresis.get_state());
}
TEST(Hysteresis, Zero)
{
// Default is 0 hysteresis.
systemlib::Hysteresis hysteresis(false);
EXPECT_FALSE(hysteresis.get_state());
// Change and see result immediately.
hysteresis.set_state_and_update(true);
EXPECT_TRUE(hysteresis.get_state());
hysteresis.set_state_and_update(false);
EXPECT_FALSE(hysteresis.get_state());
hysteresis.set_state_and_update(true);
EXPECT_TRUE(hysteresis.get_state());
// A wait won't change anything.
px4_usleep(1000 * f);
hysteresis.update();
EXPECT_TRUE(hysteresis.get_state());
}
TEST(Hysteresis, ChangeAfterTime)
{
systemlib::Hysteresis hysteresis(false);
hysteresis.set_hysteresis_time_from(false, 5000 * f);
hysteresis.set_hysteresis_time_from(true, 3000 * f);
// Change to true.
hysteresis.set_state_and_update(true);
EXPECT_FALSE(hysteresis.get_state());
px4_usleep(4000 * f);
hysteresis.update();
EXPECT_FALSE(hysteresis.get_state());
px4_usleep(2000 * f);
hysteresis.update();
EXPECT_TRUE(hysteresis.get_state());
// Change back to false.
hysteresis.set_state_and_update(false);
EXPECT_TRUE(hysteresis.get_state());
px4_usleep(1000 * f);
hysteresis.update();
EXPECT_TRUE(hysteresis.get_state());
px4_usleep(3000 * f);
hysteresis.update();
EXPECT_FALSE(hysteresis.get_state());
}
TEST(Hysteresis, HysteresisChanged)
{
systemlib::Hysteresis hysteresis(false);
hysteresis.set_hysteresis_time_from(true, 2000 * f);
hysteresis.set_hysteresis_time_from(false, 5000 * f);
// Change to true.
hysteresis.set_state_and_update(true);
EXPECT_FALSE(hysteresis.get_state());
px4_usleep(3000 * f);
hysteresis.update();
EXPECT_FALSE(hysteresis.get_state());
px4_usleep(3000 * f);
hysteresis.update();
EXPECT_TRUE(hysteresis.get_state());
// Change hysteresis time.
hysteresis.set_hysteresis_time_from(true, 10000 * f);
// Change back to false.
hysteresis.set_state_and_update(false);
EXPECT_TRUE(hysteresis.get_state());
px4_usleep(7000 * f);
hysteresis.update();
EXPECT_TRUE(hysteresis.get_state());
px4_usleep(5000 * f);
hysteresis.update();
EXPECT_FALSE(hysteresis.get_state());
}
TEST(Hysteresis, ChangeAfterMultipleSets)
{
systemlib::Hysteresis hysteresis(false);
hysteresis.set_hysteresis_time_from(true, 5000 * f);
hysteresis.set_hysteresis_time_from(false, 5000 * f);
// Change to true.
hysteresis.set_state_and_update(true);
EXPECT_FALSE(hysteresis.get_state());
px4_usleep(3000 * f);
hysteresis.set_state_and_update(true);
EXPECT_FALSE(hysteresis.get_state());
px4_usleep(3000 * f);
hysteresis.set_state_and_update(true);
EXPECT_TRUE(hysteresis.get_state());
// Change to false.
hysteresis.set_state_and_update(false);
EXPECT_TRUE(hysteresis.get_state());
px4_usleep(3000 * f);
hysteresis.set_state_and_update(false);
EXPECT_TRUE(hysteresis.get_state());
px4_usleep(3000 * f);
hysteresis.set_state_and_update(false);
EXPECT_FALSE(hysteresis.get_state());
}
TEST(Hysteresis, TakeChangeBack)
{
systemlib::Hysteresis hysteresis(false);
hysteresis.set_hysteresis_time_from(false, 5000 * f);
// Change to true.
hysteresis.set_state_and_update(true);
EXPECT_FALSE(hysteresis.get_state());
px4_usleep(3000 * f);
hysteresis.update();
EXPECT_FALSE(hysteresis.get_state());
// Change your mind to false.
hysteresis.set_state_and_update(false);
EXPECT_FALSE(hysteresis.get_state());
px4_usleep(6000 * f);
hysteresis.update();
EXPECT_FALSE(hysteresis.get_state());
// And true again
hysteresis.set_state_and_update(true);
EXPECT_FALSE(hysteresis.get_state());
px4_usleep(3000 * f);
hysteresis.update();
EXPECT_FALSE(hysteresis.get_state());
px4_usleep(3000 * f);
hysteresis.update();
EXPECT_TRUE(hysteresis.get_state());
// The other directory is immediate.
hysteresis.set_state_and_update(false);
EXPECT_FALSE(hysteresis.get_state());
}
src/lib/systemlib/CMakeLists.txt
-1
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@@ -35,7 +35,6 @@ set(SRCS
conversions.c
cpuload.c
crc.c
hysteresis/hysteresis.cpp
mavlink_log.c
otp.c
)