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Hysteresis: switch unit test file name to convention
This commit is contained in:
Matthias Grob
committed by
Julian Oes
Julian Oes
parent
b29e5e3adb
commit
8a84472795
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/****************************************************************************
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*
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* Copyright (C) 2012-2019 PX4 Development Team. 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
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* are met:
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*
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* 1. 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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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* 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
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file hysteresis_test.cpp
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* Tests for system timing hysteresis.
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*/
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#include <gtest/gtest.h>
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#include "hysteresis.h"
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static constexpr hrt_abstime SOME_START_TIME = 1558359616134000llu;
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TEST(Hysteresis, InitFalse)
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{
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systemlib::Hysteresis hysteresis(false);
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EXPECT_FALSE(hysteresis.get_state());
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}
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TEST(Hysteresis, InitTrue)
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{
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systemlib::Hysteresis hysteresis(true);
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EXPECT_TRUE(hysteresis.get_state());
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}
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TEST(Hysteresis, Zero)
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{
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hrt_abstime time_us = SOME_START_TIME;
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// Default is 0 hysteresis.
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systemlib::Hysteresis hysteresis(false);
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EXPECT_FALSE(hysteresis.get_state());
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// Change and see result immediately.
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hysteresis.set_state_and_update(true, time_us);
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EXPECT_TRUE(hysteresis.get_state());
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hysteresis.set_state_and_update(false, time_us);
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EXPECT_FALSE(hysteresis.get_state());
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hysteresis.set_state_and_update(true, time_us);
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EXPECT_TRUE(hysteresis.get_state());
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time_us += 1000;
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// A wait won't change anything.
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hysteresis.update(time_us);
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EXPECT_TRUE(hysteresis.get_state());
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}
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TEST(Hysteresis, ChangeAfterTime)
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{
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hrt_abstime time_us = SOME_START_TIME;
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systemlib::Hysteresis hysteresis(false);
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hysteresis.set_hysteresis_time_from(false, 5000);
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hysteresis.set_hysteresis_time_from(true, 3000);
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// Change to true.
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hysteresis.set_state_and_update(true, time_us);
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EXPECT_FALSE(hysteresis.get_state());
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time_us += 4000;
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hysteresis.update(time_us);
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EXPECT_FALSE(hysteresis.get_state());
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time_us += 2000;
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hysteresis.update(time_us);
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EXPECT_TRUE(hysteresis.get_state());
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// Change back to false.
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hysteresis.set_state_and_update(false, time_us);
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EXPECT_TRUE(hysteresis.get_state());
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time_us += 1000;
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hysteresis.update(time_us);
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EXPECT_TRUE(hysteresis.get_state());
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time_us += 3000;
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hysteresis.update(time_us);
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EXPECT_FALSE(hysteresis.get_state());
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}
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TEST(Hysteresis, HysteresisChanged)
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{
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hrt_abstime time_us = SOME_START_TIME;
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systemlib::Hysteresis hysteresis(false);
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hysteresis.set_hysteresis_time_from(true, 2000);
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hysteresis.set_hysteresis_time_from(false, 5000);
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// Change to true.
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hysteresis.set_state_and_update(true, time_us);
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EXPECT_FALSE(hysteresis.get_state());
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time_us += 3000;
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hysteresis.update(time_us);
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EXPECT_FALSE(hysteresis.get_state());
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time_us += 3000;
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hysteresis.update(time_us);
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EXPECT_TRUE(hysteresis.get_state());
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// Change hysteresis time.
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hysteresis.set_hysteresis_time_from(true, 10000);
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// Change back to false.
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hysteresis.set_state_and_update(false, time_us);
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EXPECT_TRUE(hysteresis.get_state());
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time_us += 7000;
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hysteresis.update(time_us);
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EXPECT_TRUE(hysteresis.get_state());
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time_us += 5000;
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hysteresis.update(time_us);
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EXPECT_FALSE(hysteresis.get_state());
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}
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TEST(Hysteresis, ChangeAfterMultipleSets)
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{
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hrt_abstime time_us = SOME_START_TIME;
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systemlib::Hysteresis hysteresis(false);
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hysteresis.set_hysteresis_time_from(true, 5000);
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hysteresis.set_hysteresis_time_from(false, 5000);
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// Change to true.
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hysteresis.set_state_and_update(true, time_us);
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EXPECT_FALSE(hysteresis.get_state());
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time_us += 3000;
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hysteresis.set_state_and_update(true, time_us);
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EXPECT_FALSE(hysteresis.get_state());
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time_us += 3000;
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hysteresis.set_state_and_update(true, time_us);
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EXPECT_TRUE(hysteresis.get_state());
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// Change to false.
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hysteresis.set_state_and_update(false, time_us);
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EXPECT_TRUE(hysteresis.get_state());
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time_us += 3000;
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hysteresis.set_state_and_update(false, time_us);
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EXPECT_TRUE(hysteresis.get_state());
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time_us += 3000;
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hysteresis.set_state_and_update(false, time_us);
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EXPECT_FALSE(hysteresis.get_state());
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}
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TEST(Hysteresis, TakeChangeBack)
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{
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hrt_abstime time_us = SOME_START_TIME;
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systemlib::Hysteresis hysteresis(false);
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hysteresis.set_hysteresis_time_from(false, 5000);
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// Change to true.
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hysteresis.set_state_and_update(true, time_us);
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EXPECT_FALSE(hysteresis.get_state());
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time_us += 3000;
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hysteresis.update(time_us);
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EXPECT_FALSE(hysteresis.get_state());
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// Change your mind to false.
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hysteresis.set_state_and_update(false, time_us);
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EXPECT_FALSE(hysteresis.get_state());
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time_us += 6000;
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hysteresis.update(time_us);
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EXPECT_FALSE(hysteresis.get_state());
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// And true again
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hysteresis.set_state_and_update(true, time_us);
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EXPECT_FALSE(hysteresis.get_state());
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time_us += 3000;
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hysteresis.update(time_us);
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EXPECT_FALSE(hysteresis.get_state());
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time_us += 3000;
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hysteresis.update(time_us);
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EXPECT_TRUE(hysteresis.get_state());
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// The other directory is immediate.
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hysteresis.set_state_and_update(false, time_us);
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EXPECT_FALSE(hysteresis.get_state());
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}
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