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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
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src/systemcmds/tests/CMakeLists.txt
-1
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@@ -44,7 +44,6 @@ set(srcs
test_float.cpp
test_hott_telemetry.c
test_hrt.cpp
test_hysteresis.cpp
test_int.cpp
test_IntrusiveQueue.cpp
test_jig_voltages.c
src/systemcmds/tests/test_hysteresis.cpp
-243
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@@ -1,243 +0,0 @@
/****************************************************************************
*
* 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 test_hysteresis.cpp
* Tests for system timing hysteresis.
*/
#include <unit_test.h>
#include <unistd.h>
#include <systemlib/hysteresis/hysteresis.h>
class HysteresisTest : public UnitTest
{
public:
virtual bool run_tests();
private:
bool _init_false();
bool _init_true();
bool _zero_case();
bool _change_after_time();
bool _hysteresis_changed();
bool _change_after_multiple_sets();
bool _take_change_back();
// timing on MacOS and Cygwin isn't great
#if defined(__PX4_DARWIN) || defined(__PX4_CYGWIN)
static const int f = 10;
#else
static const int f = 1;
#endif
};
bool HysteresisTest::run_tests()
{
ut_run_test(_init_false);
ut_run_test(_init_true);
ut_run_test(_zero_case);
ut_run_test(_change_after_time);
ut_run_test(_hysteresis_changed);
ut_run_test(_change_after_multiple_sets);
ut_run_test(_take_change_back);
return (_tests_failed == 0);
}
bool HysteresisTest::_init_false()
{
systemlib::Hysteresis hysteresis(false);
ut_assert_false(hysteresis.get_state());
return true;
}
bool HysteresisTest::_init_true()
{
systemlib::Hysteresis hysteresis(true);
ut_assert_true(hysteresis.get_state());
return true;
}
bool HysteresisTest::_zero_case()
{
// Default is 0 hysteresis.
systemlib::Hysteresis hysteresis(false);
ut_assert_false(hysteresis.get_state());
// Change and see result immediately.
hysteresis.set_state_and_update(true);
ut_assert_true(hysteresis.get_state());
hysteresis.set_state_and_update(false);
ut_assert_false(hysteresis.get_state());
hysteresis.set_state_and_update(true);
ut_assert_true(hysteresis.get_state());
// A wait won't change anything.
px4_usleep(1000 * f);
hysteresis.update();
ut_assert_true(hysteresis.get_state());
return true;
}
bool HysteresisTest::_change_after_time()
{
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);
ut_assert_false(hysteresis.get_state());
px4_usleep(4000 * f);
hysteresis.update();
ut_assert_false(hysteresis.get_state());
px4_usleep(2000 * f);
hysteresis.update();
ut_assert_true(hysteresis.get_state());
// Change back to false.
hysteresis.set_state_and_update(false);
ut_assert_true(hysteresis.get_state());
px4_usleep(1000 * f);
hysteresis.update();
ut_assert_true(hysteresis.get_state());
px4_usleep(3000 * f);
hysteresis.update();
ut_assert_false(hysteresis.get_state());
return true;
}
bool HysteresisTest::_hysteresis_changed()
{
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);
ut_assert_false(hysteresis.get_state());
px4_usleep(3000 * f);
hysteresis.update();
ut_assert_false(hysteresis.get_state());
px4_usleep(3000 * f);
hysteresis.update();
ut_assert_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);
ut_assert_true(hysteresis.get_state());
px4_usleep(7000 * f);
hysteresis.update();
ut_assert_true(hysteresis.get_state());
px4_usleep(5000 * f);
hysteresis.update();
ut_assert_false(hysteresis.get_state());
return true;
}
bool HysteresisTest::_change_after_multiple_sets()
{
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);
ut_assert_false(hysteresis.get_state());
px4_usleep(3000 * f);
hysteresis.set_state_and_update(true);
ut_assert_false(hysteresis.get_state());
px4_usleep(3000 * f);
hysteresis.set_state_and_update(true);
ut_assert_true(hysteresis.get_state());
// Change to false.
hysteresis.set_state_and_update(false);
ut_assert_true(hysteresis.get_state());
px4_usleep(3000 * f);
hysteresis.set_state_and_update(false);
ut_assert_true(hysteresis.get_state());
px4_usleep(3000 * f);
hysteresis.set_state_and_update(false);
ut_assert_false(hysteresis.get_state());
return true;
}
bool HysteresisTest::_take_change_back()
{
systemlib::Hysteresis hysteresis(false);
hysteresis.set_hysteresis_time_from(false, 5000 * f);
// Change to true.
hysteresis.set_state_and_update(true);
ut_assert_false(hysteresis.get_state());
px4_usleep(3000 * f);
hysteresis.update();
ut_assert_false(hysteresis.get_state());
// Change your mind to false.
hysteresis.set_state_and_update(false);
ut_assert_false(hysteresis.get_state());
px4_usleep(6000 * f);
hysteresis.update();
ut_assert_false(hysteresis.get_state());
// And true again
hysteresis.set_state_and_update(true);
ut_assert_false(hysteresis.get_state());
px4_usleep(3000 * f);
hysteresis.update();
ut_assert_false(hysteresis.get_state());
px4_usleep(3000 * f);
hysteresis.update();
ut_assert_true(hysteresis.get_state());
// The other directory is immediate.
hysteresis.set_state_and_update(false);
ut_assert_false(hysteresis.get_state());
return true;
}
ut_declare_test_c(test_hysteresis, HysteresisTest)
src/systemcmds/tests/tests_main.c
-1
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@@ -93,7 +93,6 @@ const struct {
{"float", test_float, 0},
{"hott_telemetry", test_hott_telemetry, OPT_NOJIGTEST | OPT_NOALLTEST},
{"hrt", test_hrt, OPT_NOJIGTEST | OPT_NOALLTEST},
{"hysteresis", test_hysteresis, 0},
{"int", test_int, 0},
{"IntrusiveQueue", test_IntrusiveQueue, 0},
{"jig_voltages", test_jig_voltages, OPT_NOALLTEST},
src/systemcmds/tests/tests_main.h
-1
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@@ -55,7 +55,6 @@ extern int test_file2(int argc, char *argv[]);
extern int test_float(int argc, char *argv[]);
extern int test_hott_telemetry(int argc, char *argv[]);
extern int test_hrt(int argc, char *argv[]);
extern int test_hysteresis(int argc, char *argv[]);
extern int test_int(int argc, char *argv[]);
extern int test_IntrusiveQueue(int argc, char *argv[]);
extern int test_jig_voltages(int argc, char *argv[]);