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PavloZMN
ee150a15b4
* Test for Optical Flow checks correct camera position * Formatting fixed * Update src/modules/sensors/vehicle_optical_flow/test/CMakeLists.txt Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com> * Update src/modules/sensors/vehicle_optical_flow/test/VehicleOpticalFlowTest.cpp Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com> * Update src/modules/sensors/vehicle_optical_flow/test/VehicleOpticalFlowTest.cpp Co-authored-by: Silvan Fuhrer <silvan@auterion.com> * For test GIVEN/WHEN/THEN added --------- Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com> Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
119 lines
3.7 KiB
C++
119 lines
3.7 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2024 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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* Test for VehicleOpticalFlow
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*/
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#include <gtest/gtest.h>
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#include "../VehicleOpticalFlow.hpp"
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#include <uORB/uORBManager.hpp>
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#include <uORB/topics/distance_sensor.h>
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distance_sensor_s createDistanceSensorMessage(uint16_t orientation)
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{
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distance_sensor_s message;
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message.timestamp = hrt_absolute_time();
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message.min_distance = 1.f;
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message.max_distance = 100.f;
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message.current_distance = 1.1f;
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message.variance = 0.1f;
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message.signal_quality = 100;
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message.type = distance_sensor_s::MAV_DISTANCE_SENSOR_LASER;
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message.orientation = orientation;
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message.h_fov = math::radians(50.f);
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message.v_fov = math::radians(30.f);
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return message;
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}
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class VehicleOpticalFlowTest : public ::testing::Test
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{
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public:
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class VehicleOpticalFlowTestable : public sensors::VehicleOpticalFlow
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{
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public:
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void UpdateDistanceSensorPublic()
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{
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VehicleOpticalFlow::UpdateDistanceSensor();
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}
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bool IsDistanceSensorSelected()
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{
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return _distance_sensor_selected >= 0;
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}
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};
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void SetUp() override
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{
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uORB::Manager::initialize();
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}
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void TearDown() override
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{
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uORB::Manager::terminate();
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}
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};
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TEST_F(VehicleOpticalFlowTest, CameraFacingDown)
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{
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// GIVEN: message with sensor camera facing down
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distance_sensor_s message = createDistanceSensorMessage(distance_sensor_s::ROTATION_DOWNWARD_FACING);
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orb_advertise(ORB_ID(distance_sensor), &message);
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// WHEN: update distance sensor
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VehicleOpticalFlowTest::VehicleOpticalFlowTestable testable;
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testable.UpdateDistanceSensorPublic();
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// THEN: sensor selected
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EXPECT_TRUE(testable.IsDistanceSensorSelected());
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}
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TEST_F(VehicleOpticalFlowTest, CameraFacingForward)
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{
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// GIVEN: message with sensor camera facing forward
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distance_sensor_s message = createDistanceSensorMessage(distance_sensor_s::ROTATION_FORWARD_FACING);
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orb_advertise(ORB_ID(distance_sensor), &message);
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// WHEN: update distance sensor
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VehicleOpticalFlowTest::VehicleOpticalFlowTestable testable;
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testable.UpdateDistanceSensorPublic();
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// THEN: sensor is not selected
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EXPECT_FALSE(testable.IsDistanceSensorSelected());
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}
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