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Julian Oes
401d807261
There have been two cases where a hysteresis function wasn't working correctly. It is therefore a good idea to abstract the hysteresis functionality into a library.
115 lines
2.9 KiB
C++
115 lines
2.9 KiB
C++
#include <systemlib/hysteresis/hysteresis.h>
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#include "gtest/gtest.h"
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const static unsigned hysteresis_time_us = 5000;
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TEST(HysteresisTest, InitFalse)
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{
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systemlib::Hysteresis hysteresis(hysteresis_time_us, false);
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ASSERT_FALSE(hysteresis.get_state());
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}
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TEST(HysteresisTest, InitTrue)
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{
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systemlib::Hysteresis hysteresis(hysteresis_time_us, true);
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ASSERT_TRUE(hysteresis.get_state());
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}
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TEST(HysteresisTest, ZeroCase)
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{
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systemlib::Hysteresis hysteresis(0, false);
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ASSERT_FALSE(hysteresis.get_state());
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// Change and see result immediately.
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hysteresis.set_state_and_update(true);
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ASSERT_TRUE(hysteresis.get_state());
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hysteresis.set_state_and_update(false);
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ASSERT_FALSE(hysteresis.get_state());
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hysteresis.set_state_and_update(true);
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ASSERT_TRUE(hysteresis.get_state());
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// A wait won't change anything.
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usleep(1000);
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hysteresis.update();
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ASSERT_TRUE(hysteresis.get_state());
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}
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TEST(HysteresisTest, ChangeAfterTime)
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{
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systemlib::Hysteresis hysteresis(hysteresis_time_us, false);
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// Change to true.
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hysteresis.set_state_and_update(true);
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ASSERT_FALSE(hysteresis.get_state());
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usleep(3000);
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hysteresis.update();
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ASSERT_FALSE(hysteresis.get_state());
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usleep(3000);
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hysteresis.update();
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ASSERT_TRUE(hysteresis.get_state());
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// Change back to false.
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hysteresis.set_state_and_update(false);
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ASSERT_TRUE(hysteresis.get_state());
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usleep(3000);
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hysteresis.update();
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ASSERT_TRUE(hysteresis.get_state());
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usleep(3000);
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hysteresis.update();
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ASSERT_FALSE(hysteresis.get_state());
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}
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TEST(HysteresisTest, ChangeAfterTimeMultipleSets)
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{
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systemlib::Hysteresis hysteresis(hysteresis_time_us, false);
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// Change to true.
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hysteresis.set_state_and_update(true);
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ASSERT_FALSE(hysteresis.get_state());
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usleep(3000);
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hysteresis.set_state_and_update(true);
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ASSERT_FALSE(hysteresis.get_state());
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usleep(3000);
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hysteresis.set_state_and_update(true);
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ASSERT_TRUE(hysteresis.get_state());
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// Change to false.
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hysteresis.set_state_and_update(false);
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ASSERT_TRUE(hysteresis.get_state());
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usleep(3000);
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hysteresis.set_state_and_update(false);
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ASSERT_TRUE(hysteresis.get_state());
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usleep(3000);
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hysteresis.set_state_and_update(false);
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ASSERT_FALSE(hysteresis.get_state());
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}
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TEST(HysteresisTest, TakeChangeBack)
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{
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systemlib::Hysteresis hysteresis(hysteresis_time_us, false);
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// Change to true.
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hysteresis.set_state_and_update(true);
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ASSERT_FALSE(hysteresis.get_state());
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usleep(3000);
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hysteresis.update();
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ASSERT_FALSE(hysteresis.get_state());
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// Change your mind to false.
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hysteresis.set_state_and_update(false);
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ASSERT_FALSE(hysteresis.get_state());
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usleep(6000);
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hysteresis.update();
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ASSERT_FALSE(hysteresis.get_state());
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// And true again
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hysteresis.set_state_and_update(true);
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ASSERT_FALSE(hysteresis.get_state());
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usleep(3000);
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hysteresis.update();
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ASSERT_FALSE(hysteresis.get_state());
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usleep(3000);
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hysteresis.update();
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ASSERT_TRUE(hysteresis.get_state());
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}
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