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55d06241b3
and fix the tests instead. Some unit tests depend on pthread_cond_wait to work as expected.
109 lines
3.7 KiB
C++
109 lines
3.7 KiB
C++
/****************************************************************************
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*
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* Copyright (C) 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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#include <px4_platform_common/module_params.h>
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#include <uORB/Subscription.hpp>
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#include <uORB/topics/obstacle_distance.h>
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#include <uORB/uORBManager.hpp>
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#include <gtest/gtest.h>
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class ParameterTest : public ::testing::Test
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{
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public:
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void SetUp() override
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{
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param_control_autosave(false);
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param_reset_all();
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}
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};
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TEST_F(ParameterTest, testParamReadWrite)
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{
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// GIVEN a parameter handle
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param_t param = param_handle(px4::params::CP_DIST);
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// WHEN: we get the parameter
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float value = -999.f;
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int status = param_get(param, &value);
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// THEN it should be successful and have the default value
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EXPECT_EQ(0, status);
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EXPECT_FLOAT_EQ(-1.f, value);
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// WHEN: we set the parameter
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value = 42.f;
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status = param_set(param, &value);
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// THEN: it should be successful
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EXPECT_EQ(0, status);
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// WHEN: we get the parameter again
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float value2 = -1999.f;
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status = param_get(param, &value2);
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// THEN: it should be exactly the value we set
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EXPECT_EQ(0, status);
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EXPECT_FLOAT_EQ(42.f, value2);
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}
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TEST_F(ParameterTest, testUorbSendReceive)
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{
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// GIVEN: a uOrb message
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obstacle_distance_s message;
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memset(&message, 0xDEAD, sizeof(message));
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message.min_distance = 1.f;
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message.max_distance = 10.f;
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// AND: a subscriber
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uORB::SubscriptionData<obstacle_distance_s> sub_obstacle_distance{ORB_ID(obstacle_distance)};
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// WHEN we send the message
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orb_advert_t obstacle_distance_pub = orb_advertise(ORB_ID(obstacle_distance), &message);
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ASSERT_TRUE(obstacle_distance_pub != nullptr);
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// THEN: the subscriber should receive the message
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sub_obstacle_distance.update();
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const obstacle_distance_s &obstacle_distance = sub_obstacle_distance.get();
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// AND: the values we got should be the same
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EXPECT_EQ(message.timestamp, obstacle_distance.timestamp);
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EXPECT_FLOAT_EQ(message.min_distance, obstacle_distance.min_distance);
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EXPECT_FLOAT_EQ(message.max_distance, obstacle_distance.max_distance);
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// AND: all the bytes should be equal
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EXPECT_EQ(0, memcmp(&message, &obstacle_distance, sizeof(message)));
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}
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