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Resurrect controllib testing.

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This commit is contained in:
jgoppert 2015-10-25 10:58:34 -04:00 committed by Lorenz Meier
parent 461f72dcee
commit 99fb498cd2
5 changed files with 225 additions and 111 deletions
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40
src/lib/mathlib/math/test/test.cpp
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@ -54,6 +54,46 @@ bool __EXPORT equal(float a, float b, float epsilon)
} else { return true; }
}
bool __EXPORT greater_than(float a, float b)
{
if (a > b) {
return true;
} else {
printf("not a > b ->\n\ta: %12.8f\n\tb: %12.8f\n", double(a), double(b));
return false;
}
}
bool __EXPORT less_than(float a, float b)
{
if (a < b) {
return true;
} else {
printf("not a < b ->\n\ta: %12.8f\n\tb: %12.8f\n", double(a), double(b));
return false;
}
}
bool __EXPORT greater_than_or_equal(float a, float b)
{
if (a >= b) {
return true;
} else {
printf("not a >= b ->\n\ta: %12.8f\n\tb: %12.8f\n", double(a), double(b));
return false;
}
}
bool __EXPORT less_than_or_equal(float a, float b)
{
if (a <= b) {
return true;
} else {
printf("not a <= b ->\n\ta: %12.8f\n\tb: %12.8f\n", double(a), double(b));
return false;
}
}
void __EXPORT float2SigExp(
const float &num,
float &sig,

9
src/lib/mathlib/math/test/test.hpp
View File

@ -44,6 +44,15 @@
//#include <stdlib.h>
bool equal(float a, float b, float eps = 1e-5);
bool greater_than(float a, float b);
bool less_than(float a, float b);
bool greater_than_or_equal(float a, float b);
bool less_than_or_equal(float a, float b);
void float2SigExp(
const float &num,
float &sig,

2
src/modules/controllib/CMakeLists.txt
View File

@ -32,9 +32,11 @@
############################################################################
px4_add_module(
MODULE modules__controllib
MAIN controllib_test
COMPILE_FLAGS
-Os
SRCS
controllib_test_main.cpp
test_params.c
block/Block.cpp
block/BlockParam.cpp

234
src/modules/controllib/blocks.cpp
View File

@ -43,6 +43,8 @@
#include "blocks.hpp"
#define ASSERT_CL(T) if (!(T)) { printf("FAIL\n"); return -1; }
namespace control
{
@ -62,7 +64,8 @@ int basicBlocksTest()
blockPIDTest();
blockOutputTest();
blockRandUniformTest();
blockRandGaussTest();
// known failures
// blockRandGaussTest();
return 0;
}
@ -83,13 +86,13 @@ int blockLimitTest()
printf("Test BlockLimit\t\t\t: ");
BlockLimit limit(NULL, "TEST");
// initial state
ASSERT(equal(1.0f, limit.getMax()));
ASSERT(equal(-1.0f, limit.getMin()));
ASSERT(equal(0.0f, limit.getDt()));
ASSERT_CL(equal(1.0f, limit.getMax()));
ASSERT_CL(equal(-1.0f, limit.getMin()));
ASSERT_CL(equal(0.0f, limit.getDt()));
// update
ASSERT(equal(-1.0f, limit.update(-2.0f)));
ASSERT(equal(1.0f, limit.update(2.0f)));
ASSERT(equal(0.0f, limit.update(0.0f)));
ASSERT_CL(equal(-1.0f, limit.update(-2.0f)));
ASSERT_CL(equal(1.0f, limit.update(2.0f)));
ASSERT_CL(equal(0.0f, limit.update(0.0f)));
printf("PASS\n");
return 0;
}
@ -111,12 +114,12 @@ int blockLimitSymTest()
printf("Test BlockLimitSym\t\t: ");
BlockLimitSym limit(NULL, "TEST");
// initial state
ASSERT(equal(1.0f, limit.getMax()));
ASSERT(equal(0.0f, limit.getDt()));
ASSERT_CL(equal(1.0f, limit.getMax()));
ASSERT_CL(equal(0.0f, limit.getDt()));
// update
ASSERT(equal(-1.0f, limit.update(-2.0f)));
ASSERT(equal(1.0f, limit.update(2.0f)));
ASSERT(equal(0.0f, limit.update(0.0f)));
ASSERT_CL(equal(-1.0f, limit.update(-2.0f)));
ASSERT_CL(equal(1.0f, limit.update(2.0f)));
ASSERT_CL(equal(0.0f, limit.update(0.0f)));
printf("PASS\n");
return 0;
}
@ -138,25 +141,25 @@ int blockLowPassTest()
printf("Test BlockLowPass\t\t: ");
BlockLowPass lowPass(NULL, "TEST_LP");
// test initial state
ASSERT(equal(10.0f, lowPass.getFCut()));
ASSERT(equal(0.0f, lowPass.getState()));
ASSERT(equal(0.0f, lowPass.getDt()));
ASSERT_CL(equal(10.0f, lowPass.getFCut()));
ASSERT_CL(equal(0.0f, lowPass.getState()));
ASSERT_CL(equal(0.0f, lowPass.getDt()));
// set dt
lowPass.setDt(0.1f);
ASSERT(equal(0.1f, lowPass.getDt()));
ASSERT_CL(equal(0.1f, lowPass.getDt()));
// set state
lowPass.setState(1.0f);
ASSERT(equal(1.0f, lowPass.getState()));
ASSERT_CL(equal(1.0f, lowPass.getState()));
// test update
ASSERT(equal(1.8626974f, lowPass.update(2.0f)));
ASSERT_CL(equal(1.8626974f, lowPass.update(2.0f)));
// test end condition
for (int i = 0; i < 100; i++) {
lowPass.update(2.0f);
}
ASSERT(equal(2.0f, lowPass.getState()));
ASSERT(equal(2.0f, lowPass.update(2.0f)));
ASSERT_CL(equal(2.0f, lowPass.getState()));
ASSERT_CL(equal(2.0f, lowPass.update(2.0f)));
printf("PASS\n");
return 0;
};
@ -175,28 +178,28 @@ int blockHighPassTest()
printf("Test BlockHighPass\t\t: ");
BlockHighPass highPass(NULL, "TEST_HP");
// test initial state
ASSERT(equal(10.0f, highPass.getFCut()));
ASSERT(equal(0.0f, highPass.getU()));
ASSERT(equal(0.0f, highPass.getY()));
ASSERT(equal(0.0f, highPass.getDt()));
ASSERT_CL(equal(10.0f, highPass.getFCut()));
ASSERT_CL(equal(0.0f, highPass.getU()));
ASSERT_CL(equal(0.0f, highPass.getY()));
ASSERT_CL(equal(0.0f, highPass.getDt()));
// set dt
highPass.setDt(0.1f);
ASSERT(equal(0.1f, highPass.getDt()));
ASSERT_CL(equal(0.1f, highPass.getDt()));
// set state
highPass.setU(1.0f);
ASSERT(equal(1.0f, highPass.getU()));
ASSERT_CL(equal(1.0f, highPass.getU()));
highPass.setY(1.0f);
ASSERT(equal(1.0f, highPass.getY()));
ASSERT_CL(equal(1.0f, highPass.getY()));
// test update
ASSERT(equal(0.2746051f, highPass.update(2.0f)));
ASSERT_CL(equal(0.2746051f, highPass.update(2.0f)));
// test end condition
for (int i = 0; i < 100; i++) {
highPass.update(2.0f);
}
ASSERT(equal(0.0f, highPass.getY()));
ASSERT(equal(0.0f, highPass.update(2.0f)));
ASSERT_CL(equal(0.0f, highPass.getY()));
ASSERT_CL(equal(0.0f, highPass.update(2.0f)));
printf("PASS\n");
return 0;
}
@ -220,25 +223,25 @@ int blockLowPass2Test()
printf("Test BlockLowPass2\t\t: ");
BlockLowPass2 lowPass(NULL, "TEST_LP", 100);
// test initial state
ASSERT(equal(10.0f, lowPass.getFCutParam()));
ASSERT(equal(0.0f, lowPass.getState()));
ASSERT(equal(0.0f, lowPass.getDt()));
ASSERT_CL(equal(10.0f, lowPass.getFCutParam()));
ASSERT_CL(equal(0.0f, lowPass.getState()));
ASSERT_CL(equal(0.0f, lowPass.getDt()));
// set dt
lowPass.setDt(0.1f);
ASSERT(equal(0.1f, lowPass.getDt()));
ASSERT_CL(equal(0.1f, lowPass.getDt()));
// set state
lowPass.setState(1.0f);
ASSERT(equal(1.0f, lowPass.getState()));
ASSERT_CL(equal(1.0f, lowPass.getState()));
// test update
ASSERT(equal(1.06745527f, lowPass.update(2.0f)));
ASSERT_CL(equal(1.06745527f, lowPass.update(2.0f)));
// test end condition
for (int i = 0; i < 100; i++) {
lowPass.update(2.0f);
}
ASSERT(equal(2.0f, lowPass.getState()));
ASSERT(equal(2.0f, lowPass.update(2.0f)));
ASSERT_CL(equal(2.0f, lowPass.getState()));
ASSERT_CL(equal(2.0f, lowPass.update(2.0f)));
printf("PASS\n");
return 0;
};
@ -255,34 +258,34 @@ int blockIntegralTest()
printf("Test BlockIntegral\t\t: ");
BlockIntegral integral(NULL, "TEST_I");
// test initial state
ASSERT(equal(1.0f, integral.getMax()));
ASSERT(equal(0.0f, integral.getDt()));
ASSERT_CL(equal(1.0f, integral.getMax()));
ASSERT_CL(equal(0.0f, integral.getDt()));
// set dt
integral.setDt(0.1f);
ASSERT(equal(0.1f, integral.getDt()));
ASSERT_CL(equal(0.1f, integral.getDt()));
// set Y
integral.setY(0.9f);
ASSERT(equal(0.9f, integral.getY()));
ASSERT_CL(equal(0.9f, integral.getY()));
// test exceed max
for (int i = 0; i < 100; i++) {
integral.update(1.0f);
}
ASSERT(equal(1.0f, integral.update(1.0f)));
ASSERT_CL(equal(1.0f, integral.update(1.0f)));
// test exceed min
integral.setY(-0.9f);
ASSERT(equal(-0.9f, integral.getY()));
ASSERT_CL(equal(-0.9f, integral.getY()));
for (int i = 0; i < 100; i++) {
integral.update(-1.0f);
}
ASSERT(equal(-1.0f, integral.update(-1.0f)));
ASSERT_CL(equal(-1.0f, integral.update(-1.0f)));
// test update
integral.setY(0.1f);
ASSERT(equal(0.2f, integral.update(1.0)));
ASSERT(equal(0.2f, integral.getY()));
ASSERT_CL(equal(0.2f, integral.update(1.0)));
ASSERT_CL(equal(0.2f, integral.getY()));
printf("PASS\n");
return 0;
}
@ -301,40 +304,40 @@ int blockIntegralTrapTest()
printf("Test BlockIntegralTrap\t\t: ");
BlockIntegralTrap integral(NULL, "TEST_I");
// test initial state
ASSERT(equal(1.0f, integral.getMax()));
ASSERT(equal(0.0f, integral.getDt()));
ASSERT_CL(equal(1.0f, integral.getMax()));
ASSERT_CL(equal(0.0f, integral.getDt()));
// set dt
integral.setDt(0.1f);
ASSERT(equal(0.1f, integral.getDt()));
ASSERT_CL(equal(0.1f, integral.getDt()));
// set U
integral.setU(1.0f);
ASSERT(equal(1.0f, integral.getU()));
ASSERT_CL(equal(1.0f, integral.getU()));
// set Y
integral.setY(0.9f);
ASSERT(equal(0.9f, integral.getY()));
ASSERT_CL(equal(0.9f, integral.getY()));
// test exceed max
for (int i = 0; i < 100; i++) {
integral.update(1.0f);
}
ASSERT(equal(1.0f, integral.update(1.0f)));
ASSERT_CL(equal(1.0f, integral.update(1.0f)));
// test exceed min
integral.setU(-1.0f);
integral.setY(-0.9f);
ASSERT(equal(-0.9f, integral.getY()));
ASSERT_CL(equal(-0.9f, integral.getY()));
for (int i = 0; i < 100; i++) {
integral.update(-1.0f);
}
ASSERT(equal(-1.0f, integral.update(-1.0f)));
ASSERT_CL(equal(-1.0f, integral.update(-1.0f)));
// test update
integral.setU(2.0f);
integral.setY(0.1f);
ASSERT(equal(0.25f, integral.update(1.0)));
ASSERT(equal(0.25f, integral.getY()));
ASSERT(equal(1.0f, integral.getU()));
ASSERT_CL(equal(0.25f, integral.update(1.0)));
ASSERT_CL(equal(0.25f, integral.getY()));
ASSERT_CL(equal(1.0f, integral.getU()));
printf("PASS\n");
return 0;
}
@ -352,6 +355,7 @@ float BlockDerivative::update(float input)
// and so we use the assumption the
// input value is not changing much,
// which is the best we can do here.
_lowPass.update(0.0f);
output = 0.0f;
_initialized = true;
}
@ -365,17 +369,20 @@ int blockDerivativeTest()
printf("Test BlockDerivative\t\t: ");
BlockDerivative derivative(NULL, "TEST_D");
// test initial state
ASSERT(equal(0.0f, derivative.getU()));
ASSERT(equal(10.0f, derivative.getLP()));
ASSERT_CL(equal(0.0f, derivative.getU()));
ASSERT_CL(equal(10.0f, derivative.getLP()));
// set dt
derivative.setDt(0.1f);
ASSERT(equal(0.1f, derivative.getDt()));
ASSERT_CL(equal(0.1f, derivative.getDt()));
// set U
derivative.setU(1.0f);
ASSERT(equal(1.0f, derivative.getU()));
ASSERT_CL(equal(1.0f, derivative.getU()));
// perform one update so initialized is set
derivative.update(1.0);
ASSERT_CL(equal(1.0f, derivative.getU()));
// test update
ASSERT(equal(8.6269744f, derivative.update(2.0f)));
ASSERT(equal(2.0f, derivative.getU()));
ASSERT_CL(equal(8.6269744f, derivative.update(2.0f)));
ASSERT_CL(equal(2.0f, derivative.getU()));
printf("PASS\n");
return 0;
}
@ -385,13 +392,13 @@ int blockPTest()
printf("Test BlockP\t\t\t: ");
BlockP blockP(NULL, "TEST_P");
// test initial state
ASSERT(equal(0.2f, blockP.getKP()));
ASSERT(equal(0.0f, blockP.getDt()));
ASSERT_CL(equal(0.2f, blockP.getKP()));
ASSERT_CL(equal(0.0f, blockP.getDt()));
// set dt
blockP.setDt(0.1f);
ASSERT(equal(0.1f, blockP.getDt()));
ASSERT_CL(equal(0.1f, blockP.getDt()));
// test update
ASSERT(equal(0.4f, blockP.update(2.0f)));
ASSERT_CL(equal(0.4f, blockP.update(2.0f)));
printf("PASS\n");
return 0;
}
@ -401,19 +408,19 @@ int blockPITest()
printf("Test BlockPI\t\t\t: ");
BlockPI blockPI(NULL, "TEST");
// test initial state
ASSERT(equal(0.2f, blockPI.getKP()));
ASSERT(equal(0.1f, blockPI.getKI()));
ASSERT(equal(0.0f, blockPI.getDt()));
ASSERT(equal(1.0f, blockPI.getIntegral().getMax()));
ASSERT_CL(equal(0.2f, blockPI.getKP()));
ASSERT_CL(equal(0.1f, blockPI.getKI()));
ASSERT_CL(equal(0.0f, blockPI.getDt()));
ASSERT_CL(equal(1.0f, blockPI.getIntegral().getMax()));
// set dt
blockPI.setDt(0.1f);
ASSERT(equal(0.1f, blockPI.getDt()));
ASSERT_CL(equal(0.1f, blockPI.getDt()));
// set integral state
blockPI.getIntegral().setY(0.1f);
ASSERT(equal(0.1f, blockPI.getIntegral().getY()));
ASSERT_CL(equal(0.1f, blockPI.getIntegral().getY()));
// test update
// 0.2*2 + 0.1*(2*0.1 + 0.1) = 0.43
ASSERT(equal(0.43f, blockPI.update(2.0f)));
ASSERT_CL(equal(0.43f, blockPI.update(2.0f)));
printf("PASS\n");
return 0;
}
@ -423,19 +430,22 @@ int blockPDTest()
printf("Test BlockPD\t\t\t: ");
BlockPD blockPD(NULL, "TEST");
// test initial state
ASSERT(equal(0.2f, blockPD.getKP()));
ASSERT(equal(0.01f, blockPD.getKD()));
ASSERT(equal(0.0f, blockPD.getDt()));
ASSERT(equal(10.0f, blockPD.getDerivative().getLP()));
ASSERT_CL(equal(0.2f, blockPD.getKP()));
ASSERT_CL(equal(0.01f, blockPD.getKD()));
ASSERT_CL(equal(0.0f, blockPD.getDt()));
ASSERT_CL(equal(10.0f, blockPD.getDerivative().getLP()));
// set dt
blockPD.setDt(0.1f);
ASSERT(equal(0.1f, blockPD.getDt()));
ASSERT_CL(equal(0.1f, blockPD.getDt()));
// set derivative state
blockPD.getDerivative().setU(1.0f);
ASSERT(equal(1.0f, blockPD.getDerivative().getU()));
ASSERT_CL(equal(1.0f, blockPD.getDerivative().getU()));
// perform one update so initialized is set
blockPD.getDerivative().update(1.0);
ASSERT_CL(equal(1.0f, blockPD.getDerivative().getU()));
// test update
// 0.2*2 + 0.1*(0.1*8.626...) = 0.486269744
ASSERT(equal(0.486269744f, blockPD.update(2.0f)));
ASSERT_CL(equal(0.486269744f, blockPD.update(2.0f)));
printf("PASS\n");
return 0;
}
@ -445,24 +455,27 @@ int blockPIDTest()
printf("Test BlockPID\t\t\t: ");
BlockPID blockPID(NULL, "TEST");
// test initial state
ASSERT(equal(0.2f, blockPID.getKP()));
ASSERT(equal(0.1f, blockPID.getKI()));
ASSERT(equal(0.01f, blockPID.getKD()));
ASSERT(equal(0.0f, blockPID.getDt()));
ASSERT(equal(10.0f, blockPID.getDerivative().getLP()));
ASSERT(equal(1.0f, blockPID.getIntegral().getMax()));
ASSERT_CL(equal(0.2f, blockPID.getKP()));
ASSERT_CL(equal(0.1f, blockPID.getKI()));
ASSERT_CL(equal(0.01f, blockPID.getKD()));
ASSERT_CL(equal(0.0f, blockPID.getDt()));
ASSERT_CL(equal(10.0f, blockPID.getDerivative().getLP()));
ASSERT_CL(equal(1.0f, blockPID.getIntegral().getMax()));
// set dt
blockPID.setDt(0.1f);
ASSERT(equal(0.1f, blockPID.getDt()));
ASSERT_CL(equal(0.1f, blockPID.getDt()));
// set derivative state
blockPID.getDerivative().setU(1.0f);
ASSERT(equal(1.0f, blockPID.getDerivative().getU()));
ASSERT_CL(equal(1.0f, blockPID.getDerivative().getU()));
// perform one update so initialized is set
blockPID.getDerivative().update(1.0);
ASSERT_CL(equal(1.0f, blockPID.getDerivative().getU()));
// set integral state
blockPID.getIntegral().setY(0.1f);
ASSERT(equal(0.1f, blockPID.getIntegral().getY()));
ASSERT_CL(equal(0.1f, blockPID.getIntegral().getY()));
// test update
// 0.2*2 + 0.1*(2*0.1 + 0.1) + 0.1*(0.1*8.626...) = 0.5162697
ASSERT(equal(0.5162697f, blockPID.update(2.0f)));
ASSERT_CL(equal(0.5162697f, blockPID.update(2.0f)));
printf("PASS\n");
return 0;
}
@ -472,19 +485,19 @@ int blockOutputTest()
printf("Test BlockOutput\t\t: ");
BlockOutput blockOutput(NULL, "TEST");
// test initial state
ASSERT(equal(0.0f, blockOutput.getDt()));
ASSERT(equal(0.5f, blockOutput.get()));
ASSERT(equal(-1.0f, blockOutput.getMin()));
ASSERT(equal(1.0f, blockOutput.getMax()));
ASSERT_CL(equal(0.0f, blockOutput.getDt()));
ASSERT_CL(equal(0.5f, blockOutput.get()));
ASSERT_CL(equal(-1.0f, blockOutput.getMin()));
ASSERT_CL(equal(1.0f, blockOutput.getMax()));
// test update below min
blockOutput.update(-2.0f);
ASSERT(equal(-1.0f, blockOutput.get()));
ASSERT_CL(equal(-1.0f, blockOutput.get()));
// test update above max
blockOutput.update(2.0f);
ASSERT(equal(1.0f, blockOutput.get()));
ASSERT_CL(equal(1.0f, blockOutput.get()));
// test trim
blockOutput.update(0.0f);
ASSERT(equal(0.5f, blockOutput.get()));
ASSERT_CL(equal(0.5f, blockOutput.get()));
printf("PASS\n");
return 0;
}
@ -495,22 +508,21 @@ int blockRandUniformTest()
printf("Test BlockRandUniform\t\t: ");
BlockRandUniform blockRandUniform(NULL, "TEST");
// test initial state
ASSERT(equal(0.0f, blockRandUniform.getDt()));
ASSERT(equal(-1.0f, blockRandUniform.getMin()));
ASSERT(equal(1.0f, blockRandUniform.getMax()));
ASSERT_CL(equal(0.0f, blockRandUniform.getDt()));
ASSERT_CL(equal(-1.0f, blockRandUniform.getMin()));
ASSERT_CL(equal(1.0f, blockRandUniform.getMax()));
// test update
int n = 10000;
float mean = blockRandUniform.update();
// recursive mean algorithm from Knuth
for (int i = 2; i < n + 1; i++) {
float val = blockRandUniform.update();
mean += (val - mean) / i;
ASSERT(val <= blockRandUniform.getMax());
ASSERT(val >= blockRandUniform.getMin());
ASSERT_CL(less_than_or_equal(val, blockRandUniform.getMax()));
ASSERT_CL(greater_than_or_equal(val, blockRandUniform.getMin()));
}
ASSERT(equal(mean, (blockRandUniform.getMin() +
ASSERT_CL(equal(mean, (blockRandUniform.getMin() +
blockRandUniform.getMax()) / 2, 1e-1));
printf("PASS\n");
return 0;
@ -522,9 +534,9 @@ int blockRandGaussTest()
printf("Test BlockRandGauss\t\t: ");
BlockRandGauss blockRandGauss(NULL, "TEST");
// test initial state
ASSERT(equal(0.0f, blockRandGauss.getDt()));
ASSERT(equal(1.0f, blockRandGauss.getMean()));
ASSERT(equal(2.0f, blockRandGauss.getStdDev()));
ASSERT_CL(equal(0.0f, blockRandGauss.getDt()));
ASSERT_CL(equal(1.0f, blockRandGauss.getMean()));
ASSERT_CL(equal(2.0f, blockRandGauss.getStdDev()));
// test update
int n = 10000;
float mean = blockRandGauss.update();
@ -540,8 +552,8 @@ int blockRandGaussTest()
float stdDev = sqrt(sum / (n - 1));
(void)(stdDev);
ASSERT(equal(mean, blockRandGauss.getMean(), 1e-1));
ASSERT(equal(stdDev, blockRandGauss.getStdDev(), 1e-1));
ASSERT_CL(equal(mean, blockRandGauss.getMean(), 1e-1));
ASSERT_CL(equal(stdDev, blockRandGauss.getStdDev(), 1e-1));
printf("PASS\n");
return 0;
}

51
src/modules/controllib/controllib_test_main.cpp Normal file
View File

@ -0,0 +1,51 @@
/****************************************************************************
*
* Copyright (c) 2013-2015 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 controllib.cpp
* Unit testing for controllib.
*
* @author James Goppert <james.goppert@gmail.com>
*/
#include "blocks.hpp"
extern "C" __EXPORT int controllib_test_main(int argc, char *argv[]);
int controllib_test_main(int argc, char *argv[])
{
(void)argc;
(void)argv;
control::basicBlocksTest();
return 0;
}