mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-16 03:43:33 +08:00
move autodeclination unittest to gtest and delete the sample
This commit is contained in:
Daniel Agar
@@ -0,0 +1,26 @@
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cmake_minimum_required(VERSION 2.8)
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project(unittests)
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enable_testing()
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set(GTEST_DIR gtest)
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add_subdirectory(${GTEST_DIR})
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include_directories(${GTEST_DIR}/include)
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include_directories(${CMAKE_SOURCE_DIR})
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include_directories(${CMAKE_SOURCE_DIR}/../src)
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include_directories(${CMAKE_SOURCE_DIR}/../src/modules)
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include_directories(${CMAKE_SOURCE_DIR}/../src/lib)
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add_definitions(-D__EXPORT=)
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function(add_gtest)
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foreach(test_name ${ARGN})
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target_link_libraries(${test_name} gtest_main)
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add_test(${test_name}Test ${test_name})
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endforeach()
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endfunction()
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# add each test
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# todo: add mixer_test sbus2_test st24_test sf0x_test
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add_executable(autodeclination_test autodeclination_test.cpp ${CMAKE_SOURCE_DIR}/../src/lib/geo_lookup/geo_mag_declination.c)
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add_gtest(autodeclination_test)
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+3
-25
@@ -40,7 +40,7 @@ gtest_main.a: gtest-all.o gtest_main.o
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$(AR) $(ARFLAGS) $@ $^
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all: sample_unittest mixer_test sbus2_test autodeclination_test st24_test sf0x_test
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all: mixer_test sbus2_test st24_test sf0x_test
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MIXER_FILES=../src/systemcmds/tests/test_mixer.cpp \
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../src/systemcmds/tests/test_conv.cpp \
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@@ -66,24 +66,6 @@ SF0X_FILES= \
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sf0x_test.cpp \
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../src/drivers/sf0x/sf0x_parser.cpp
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AUTODECLINATION_FILES= ../src/lib/geo_lookup/geo_mag_declination.c \
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hrt.cpp \
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autodeclination_test.cpp
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# Builds a sample test. A test should link with either gtest.a or
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# gtest_main.a, depending on whether it defines its own main()
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# function.
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sample.o: sample.cc sample.h $(GTEST_HEADERS)
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$(CC) $(CFLAGS) -c sample.cc
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sample_unittest.o: sample_unittest.cc \
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sample.h $(GTEST_HEADERS)
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$(CC) $(CFLAGS) -c sample_unittest.cc
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sample_unittest: sample.o sample_unittest.o gtest_main.a
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$(CC) $(CFLAGS) $^ -o $@
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mixer_test: $(MIXER_FILES)
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$(CC) -o mixer_test $(MIXER_FILES) $(CFLAGS)
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@@ -93,19 +75,15 @@ sbus2_test: $(SBUS2_FILES)
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sf0x_test: $(SF0X_FILES)
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$(CC) -o sf0x_test $(SF0X_FILES) $(CFLAGS)
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autodeclination_test: $(SBUS2_FILES)
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$(CC) -o autodeclination_test $(AUTODECLINATION_FILES) $(CFLAGS)
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st24_test: $(ST24_FILES)
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$(CC) -o st24_test $(ST24_FILES) $(CFLAGS)
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unittests: clean mixer_test sbus2_test sf0x_test autodeclination_test st24_test
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unittests: clean mixer_test sbus2_test sf0x_test st24_test
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./mixer_test
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./sbus2_test
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./sf0x_test
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./autodeclination_test
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./st24_test
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.PHONY: clean
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clean:
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rm -f gtest.a gtest_main.a *.o $(ODIR)/*.o *~ core $(INCDIR)/*~ sample_unittest mixer_test sbus2_test autodeclination_test st24_test sf0x_test
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rm -f gtest.a gtest_main.a *.o $(ODIR)/*.o *~ core $(INCDIR)/*~ sample_unittest mixer_test sbus2_test st24_test sf0x_test
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@@ -1,52 +1,17 @@
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#include <math.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <unistd.h>
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#include <string.h>
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#include <math.h>
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#include <systemlib/mixer/mixer.h>
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#include <systemlib/err.h>
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#include <unistd.h>
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#include <drivers/drv_hrt.h>
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#include <px4iofirmware/px4io.h>
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// #include "../../src/systemcmds/tests/tests.h"
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#include <geo/geo.h>
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#include <px4iofirmware/px4io.h>
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#include <systemlib/err.h>
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#include <systemlib/mixer/mixer.h>
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int main(int argc, char *argv[]) {
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warnx("autodeclination test started");
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#include "gtest/gtest.h"
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char* latstr = 0;
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char* lonstr = 0;
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char* declstr = 0;
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if (argc < 4) {
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warnx("Too few arguments. Using default lat / lon and declination");
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latstr = "47.0";
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lonstr = "8.0";
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declstr = "0.6";
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} else {
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latstr = argv[1];
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lonstr = argv[2];
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declstr = argv[3];
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}
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char* p_end;
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float lat = strtod(latstr, &p_end);
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float lon = strtod(lonstr, &p_end);
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float decl_truth = strtod(declstr, &p_end);
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float declination = get_mag_declination(lat, lon);
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printf("lat: %f lon: %f, expected dec: %f, estimated dec: %f\n", lat, lon, declination, decl_truth);
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int ret = 0;
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// Fail if the declination differs by more than one degree
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float decldiff = fabs(decl_truth - declination);
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if (decldiff > 0.5f) {
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warnx("declination differs more than 1 degree: difference: %12.8f", decldiff);
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ret = 1;
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}
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return ret;
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TEST(AutoDeclinationTest, AutoDeclination) {
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ASSERT_NEAR(get_mag_declination(47.0, 8.0), 0.6, 0.5) << "declination differs more than 1 degree";
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}
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@@ -1,68 +0,0 @@
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// Copyright 2005, Google Inc.
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// All rights reserved.
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are
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// met:
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//
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// * Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above
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// copyright notice, this list of conditions and the following disclaimer
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// in the documentation and/or other materials provided with the
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// distribution.
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// * Neither the name of Google Inc. nor the names of its
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// contributors may be used to endorse or promote products derived from
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// this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
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// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
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// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
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// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
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// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
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// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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// A sample program demonstrating using Google C++ testing framework.
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//
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// Author: wan@google.com (Zhanyong Wan)
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#include "sample.h"
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// Returns n! (the factorial of n). For negative n, n! is defined to be 1.
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int Factorial(int n) {
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int result = 1;
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for (int i = 1; i <= n; i++) {
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result *= i;
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}
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return result;
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}
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// Returns true iff n is a prime number.
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bool IsPrime(int n) {
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// Trivial case 1: small numbers
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if (n <= 1) return false;
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// Trivial case 2: even numbers
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if (n % 2 == 0) return n == 2;
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// Now, we have that n is odd and n >= 3.
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// Try to divide n by every odd number i, starting from 3
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for (int i = 3; ; i += 2) {
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// We only have to try i up to the squre root of n
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if (i > n/i) break;
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// Now, we have i <= n/i < n.
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// If n is divisible by i, n is not prime.
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if (n % i == 0) return false;
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}
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// n has no integer factor in the range (1, n), and thus is prime.
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return true;
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}
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@@ -1,43 +0,0 @@
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// Copyright 2005, Google Inc.
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// All rights reserved.
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are
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// met:
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//
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// * Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above
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// copyright notice, this list of conditions and the following disclaimer
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// in the documentation and/or other materials provided with the
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// distribution.
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// * Neither the name of Google Inc. nor the names of its
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// contributors may be used to endorse or promote products derived from
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// this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
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// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
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// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
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// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
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// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
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// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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// A sample program demonstrating using Google C++ testing framework.
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//
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// Author: wan@google.com (Zhanyong Wan)
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#ifndef GTEST_SAMPLES_SAMPLE1_H_
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#define GTEST_SAMPLES_SAMPLE1_H_
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// Returns n! (the factorial of n). For negative n, n! is defined to be 1.
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int Factorial(int n);
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// Returns true iff n is a prime number.
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bool IsPrime(int n);
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#endif // GTEST_SAMPLES_SAMPLE1_H_
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@@ -1,153 +0,0 @@
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// Copyright 2005, Google Inc.
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// All rights reserved.
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are
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// met:
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//
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// * Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above
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// copyright notice, this list of conditions and the following disclaimer
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// in the documentation and/or other materials provided with the
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// distribution.
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// * Neither the name of Google Inc. nor the names of its
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// contributors may be used to endorse or promote products derived from
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// this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
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// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
|
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// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
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// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
|
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// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
|
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// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
|
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// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
|
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// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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// A sample program demonstrating using Google C++ testing framework.
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//
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// Author: wan@google.com (Zhanyong Wan)
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// This sample shows how to write a simple unit test for a function,
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// using Google C++ testing framework.
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//
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// Writing a unit test using Google C++ testing framework is easy as 1-2-3:
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// Step 1. Include necessary header files such that the stuff your
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// test logic needs is declared.
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//
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// Don't forget gtest.h, which declares the testing framework.
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#include <limits.h>
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#include "sample.h"
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#include "gtest/gtest.h"
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// Step 2. Use the TEST macro to define your tests.
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//
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// TEST has two parameters: the test case name and the test name.
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// After using the macro, you should define your test logic between a
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// pair of braces. You can use a bunch of macros to indicate the
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// success or failure of a test. EXPECT_TRUE and EXPECT_EQ are
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// examples of such macros. For a complete list, see gtest.h.
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//
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// <TechnicalDetails>
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//
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// In Google Test, tests are grouped into test cases. This is how we
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// keep test code organized. You should put logically related tests
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// into the same test case.
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//
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// The test case name and the test name should both be valid C++
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// identifiers. And you should not use underscore (_) in the names.
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//
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// Google Test guarantees that each test you define is run exactly
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// once, but it makes no guarantee on the order the tests are
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// executed. Therefore, you should write your tests in such a way
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// that their results don't depend on their order.
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//
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// </TechnicalDetails>
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// Tests Factorial().
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// Tests factorial of negative numbers.
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TEST(FactorialTest, Negative) {
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// This test is named "Negative", and belongs to the "FactorialTest"
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// test case.
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EXPECT_EQ(1, Factorial(-5));
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EXPECT_EQ(1, Factorial(-1));
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EXPECT_GT(Factorial(-10), 0);
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// <TechnicalDetails>
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//
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// EXPECT_EQ(expected, actual) is the same as
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//
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// EXPECT_TRUE((expected) == (actual))
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//
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// except that it will print both the expected value and the actual
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// value when the assertion fails. This is very helpful for
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// debugging. Therefore in this case EXPECT_EQ is preferred.
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//
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// On the other hand, EXPECT_TRUE accepts any Boolean expression,
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// and is thus more general.
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//
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// </TechnicalDetails>
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}
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// Tests factorial of 0.
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TEST(FactorialTest, Zero) {
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EXPECT_EQ(1, Factorial(0));
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}
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// Tests factorial of positive numbers.
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TEST(FactorialTest, Positive) {
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EXPECT_EQ(1, Factorial(1));
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EXPECT_EQ(2, Factorial(2));
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EXPECT_EQ(6, Factorial(3));
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EXPECT_EQ(40320, Factorial(8));
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}
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// Tests IsPrime()
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// Tests negative input.
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TEST(IsPrimeTest, Negative) {
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// This test belongs to the IsPrimeTest test case.
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EXPECT_FALSE(IsPrime(-1));
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EXPECT_FALSE(IsPrime(-2));
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EXPECT_FALSE(IsPrime(INT_MIN));
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}
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// Tests some trivial cases.
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TEST(IsPrimeTest, Trivial) {
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EXPECT_FALSE(IsPrime(0));
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EXPECT_FALSE(IsPrime(1));
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EXPECT_TRUE(IsPrime(2));
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EXPECT_TRUE(IsPrime(3));
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}
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// Tests positive input.
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TEST(IsPrimeTest, Positive) {
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EXPECT_FALSE(IsPrime(4));
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EXPECT_TRUE(IsPrime(5));
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EXPECT_FALSE(IsPrime(6));
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EXPECT_TRUE(IsPrime(23));
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}
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// Step 3. Call RUN_ALL_TESTS() in main().
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//
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// We do this by linking in src/gtest_main.cc file, which consists of
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// a main() function which calls RUN_ALL_TESTS() for us.
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//
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// This runs all the tests you've defined, prints the result, and
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// returns 0 if successful, or 1 otherwise.
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//
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// Did you notice that we didn't register the tests? The
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// RUN_ALL_TESTS() macro magically knows about all the tests we
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// defined. Isn't this convenient?
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