From 8834741be8b4034bcee3ac991b1fe5c7881a41f8 Mon Sep 17 00:00:00 2001 From: bazooka joe Date: Fri, 5 Feb 2021 17:03:59 +0200 Subject: [PATCH] gps blending make test to work without templated gps_blending class --- .../vehicle_gps_position/CMakeLists.txt | 2 +- .../vehicle_gps_position/gps_blending_test.cpp | 18 +++++++++--------- 2 files changed, 10 insertions(+), 10 deletions(-) diff --git a/src/modules/sensors/vehicle_gps_position/CMakeLists.txt b/src/modules/sensors/vehicle_gps_position/CMakeLists.txt index c3c55e1ab3..ab5be009fd 100644 --- a/src/modules/sensors/vehicle_gps_position/CMakeLists.txt +++ b/src/modules/sensors/vehicle_gps_position/CMakeLists.txt @@ -39,4 +39,4 @@ px4_add_library(vehicle_gps_position ) target_link_libraries(vehicle_gps_position PRIVATE ecl_geo px4_work_queue) -px4_add_functional_gtest(SRC gps_blending_test.cpp LINKLIBS ecl_geo) +px4_add_functional_gtest(SRC gps_blending_test.cpp LINKLIBS vehicle_gps_position ecl_geo) diff --git a/src/modules/sensors/vehicle_gps_position/gps_blending_test.cpp b/src/modules/sensors/vehicle_gps_position/gps_blending_test.cpp index 1dc7a2c535..8d46073cb1 100644 --- a/src/modules/sensors/vehicle_gps_position/gps_blending_test.cpp +++ b/src/modules/sensors/vehicle_gps_position/gps_blending_test.cpp @@ -49,8 +49,8 @@ class GpsBlendingTest : public ::testing::Test { public: sensor_gps_s getDefaultGpsData(); - void runSeconds(float duration_s, GpsBlending<2> &gps_blending, sensor_gps_s &gps_data, int instance); - void runSeconds(float duration_s, GpsBlending<2> &gps_blending, sensor_gps_s &gps_data0, sensor_gps_s &gps_data1); + void runSeconds(float duration_s, GpsBlending &gps_blending, sensor_gps_s &gps_data, int instance); + void runSeconds(float duration_s, GpsBlending &gps_blending, sensor_gps_s &gps_data0, sensor_gps_s &gps_data1); uint64_t _time_now_us{1000000}; }; @@ -87,7 +87,7 @@ sensor_gps_s GpsBlendingTest::getDefaultGpsData() return gps_data; } -void GpsBlendingTest::runSeconds(float duration_s, GpsBlending<2> &gps_blending, sensor_gps_s &gps_data, int instance) +void GpsBlendingTest::runSeconds(float duration_s, GpsBlending &gps_blending, sensor_gps_s &gps_data, int instance) { const float dt = 0.1; const uint64_t dt_us = static_cast(dt * 1e6f); @@ -101,7 +101,7 @@ void GpsBlendingTest::runSeconds(float duration_s, GpsBlending<2> &gps_blending, } } -void GpsBlendingTest::runSeconds(float duration_s, GpsBlending<2> &gps_blending, sensor_gps_s &gps_data0, +void GpsBlendingTest::runSeconds(float duration_s, GpsBlending &gps_blending, sensor_gps_s &gps_data0, sensor_gps_s &gps_data1) { const float dt = 0.1; @@ -121,7 +121,7 @@ void GpsBlendingTest::runSeconds(float duration_s, GpsBlending<2> &gps_blending, TEST_F(GpsBlendingTest, noData) { - GpsBlending<2> gps_blending; + GpsBlending gps_blending; EXPECT_EQ(gps_blending.getSelectedGps(), 0); EXPECT_FALSE(gps_blending.isNewOutputDataAvailable()); @@ -134,7 +134,7 @@ TEST_F(GpsBlendingTest, noData) TEST_F(GpsBlendingTest, singleReceiver) { - GpsBlending<2> gps_blending; + GpsBlending gps_blending; gps_blending.setPrimaryInstance(-1); sensor_gps_s gps_data = getDefaultGpsData(); @@ -162,7 +162,7 @@ TEST_F(GpsBlendingTest, singleReceiver) TEST_F(GpsBlendingTest, dualReceiverNoBlending) { - GpsBlending<2> gps_blending; + GpsBlending gps_blending; // GIVEN: two receivers with the same prioity gps_blending.setPrimaryInstance(-1); @@ -192,7 +192,7 @@ TEST_F(GpsBlendingTest, dualReceiverNoBlending) TEST_F(GpsBlendingTest, dualReceiverBlendingHPos) { - GpsBlending<2> gps_blending; + GpsBlending gps_blending; sensor_gps_s gps_data0 = getDefaultGpsData(); sensor_gps_s gps_data1 = getDefaultGpsData(); @@ -215,7 +215,7 @@ TEST_F(GpsBlendingTest, dualReceiverBlendingHPos) TEST_F(GpsBlendingTest, dualReceiverFailover) { - GpsBlending<2> gps_blending; + GpsBlending gps_blending; // GIVEN: a dual GPS setup with the first instance (0) // set as primary