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HealthAndArmingChecks: add unit tests for Report

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This commit is contained in:
Beat Küng
2022-08-25 22:02:15 -04:00
committed by Daniel Agar
parent 2507f0a143
commit f23363f88c
4 changed files with 303 additions and 3 deletions
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src/modules/commander/HealthAndArmingChecks/Common.hpp
+14 -2
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@@ -50,6 +50,10 @@
#define CONSOLE_PRINT_ARMING_CHECK_EVENT(log_level, id, str)
#endif
#ifndef FRIEND_TEST // for gtest
#define FRIEND_TEST(a, b)
#endif
using namespace time_literals;
class HealthAndArmingChecks;
@@ -185,7 +189,8 @@ public:
}
};
Report(vehicle_status_flags_s &status_flags) : _status_flags(status_flags) { }
Report(vehicle_status_flags_s &status_flags, hrt_abstime min_reporting_interval = 2_s)
: _min_reporting_interval(min_reporting_interval), _status_flags(status_flags) { }
~Report() = default;
vehicle_status_flags_s &failsafeFlags() { return _status_flags; }
@@ -292,6 +297,13 @@ private:
NavModes getModeGroup(uint8_t nav_state) const;
friend class HealthAndArmingChecks;
FRIEND_TEST(ReporterTest, basic_no_checks);
FRIEND_TEST(ReporterTest, basic_fail_all_modes);
FRIEND_TEST(ReporterTest, arming_checks_mode_category);
FRIEND_TEST(ReporterTest, arming_checks_mode_category2);
FRIEND_TEST(ReporterTest, reporting);
FRIEND_TEST(ReporterTest, reporting_multiple);
/**
* Reset current results.
* The calling order needs to be:
@@ -305,7 +317,7 @@ private:
bool report(bool is_armed, bool force);
static constexpr hrt_abstime min_reporting_interval{2_s};
const hrt_abstime _min_reporting_interval;
/// event buffer: stores current events + arguments.
/// Since the amount of extra arguments varies, 4 bytes is used here as estimate