setting parameters at runtime to get rid of the designated union initializer

2 files changed, 30 insertions, 15 deletions

diff --git a/unittests/CMakeLists.txt b/unittests/CMakeLists.txt
index e1f4120fc..1a203fa30 100644
--- a/unittests/CMakeLists.txt
+++ b/unittests/CMakeLists.txt
@@ -61,7 +61,7 @@ add_executable(mixer_test mixer_test.cpp hrt.cpp
                           ${PX_SRC}/modules/systemlib/mixer/mixer_simple.cpp
                           ${PX_SRC}/modules/systemlib/pwm_limit/pwm_limit.c
                           ${PX_SRC}/systemcmds/tests/test_mixer.cpp)
-#add_gtest(mixer_test)
+add_gtest(mixer_test)
 
 # conversion_test
 add_executable(conversion_test conversion_test.cpp ${PX_SRC}/systemcmds/tests/test_conv.cpp)
diff --git a/unittests/param_test.cpp b/unittests/param_test.cpp
index b3aff34e8..bd2a9a45d 100644
--- a/unittests/param_test.cpp
+++ b/unittests/param_test.cpp
@@ -3,30 +3,45 @@
 
 #include "gtest/gtest.h"
 
-static const struct param_info_s test_1 = {
-	"TEST_1",
-	PARAM_TYPE_INT32,
-	.val.i = 2
-};
 
 struct param_info_s	param_array[256];
 struct param_info_s	*param_info_base;
 struct param_info_s	*param_info_limit;
 
-TEST(ParamTest, ResetAll) {
+/*
+ * Adds test parameters
+ */
+void _add_parameters() {
+	struct param_info_s test_1 = {
+		"TEST_1",
+		PARAM_TYPE_INT32
+	};
+	test_1.val.i = 2;
+
+	struct param_info_s test_2 = {
+		"TEST_2",
+		PARAM_TYPE_INT32
+	};
+	test_2.val.i = 4;
+
 	param_array[0] = test_1;
+	param_array[1] = test_2;
 	param_info_base = (struct param_info_s *) &param_array[0];
-	param_info_limit = (struct param_info_s *) &param_array[1];
+	param_info_limit = (struct param_info_s *) &param_array[2];
+}
+
+TEST(ParamTest, SimpleFind) {
+	_add_parameters();
 
 	printf("diff: %i\n", (unsigned)(param_info_limit - param_info_base));
 	
-	param_t test_1 = param_find("TEST_1");
-	ASSERT_NE(PARAM_INVALID, test_1) << "param_find failed";
+	param_t param = param_find("TEST_2");
+	ASSERT_NE(PARAM_INVALID, param) << "param_find did not find parameter";
 
 	int32_t value;
-	int result = param_get(test_1, &value);
-	ASSERT_EQ(0, result) << "param_get failed";
-	ASSERT_EQ(2, value) << "wrong param value";
-
-	//ASSERT_TRUE(false) << "fail";
+	int result = param_get(param, &value);
+	ASSERT_EQ(0, result) << "param_get did not return parameter";
+	ASSERT_EQ(4, value) << "value of returned parameter does not match";
 }
+
+