Merged multirotor branch

1 files changed, 93 insertions, 0 deletions

diff --git a/src/modules/unit_test/unit_test.h b/src/modules/unit_test/unit_test.h
new file mode 100644
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+++ b/src/modules/unit_test/unit_test.h
@@ -0,0 +1,93 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
+ *   Author: Simon Wilks <sjwilks@gmail.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file unit_test.h
+ * A unit test library based on MinUnit (http://www.jera.com/techinfo/jtns/jtn002.html).
+ *
+ */
+
+#ifndef UNIT_TEST_H_
+#define UNIT_TEST_
+
+#include <systemlib/err.h>
+
+
+class __EXPORT UnitTest
+{
+
+public:
+#define xstr(s) str(s)
+#define str(s) #s
+#define INLINE_GLOBAL(type,func) inline type& func() { static type x; return x; }
+
+INLINE_GLOBAL(int, mu_tests_run)
+INLINE_GLOBAL(int, mu_assertion)
+INLINE_GLOBAL(int, mu_line)
+INLINE_GLOBAL(const char*, mu_last_test)
+
+#define mu_assert(message, test)                                           \
+    do                                                                     \
+    {                                                                      \
+        if (!(test))                                                       \
+            return __FILE__ ":" xstr(__LINE__) " " message " (" #test ")"; \
+        else                                                               \
+            mu_assertion()++;                                              \
+    } while (0)
+
+
+#define mu_run_test(test)                                                  \
+do                                                                         \
+{                                                                          \
+    const char *message;                                                   \
+    mu_last_test() = #test;                                                \
+    mu_line() = __LINE__;                                                  \
+    message = test();                                                      \
+    mu_tests_run()++;                                                      \
+    if (message)                                                           \
+        return message;                                                    \
+} while (0)
+
+
+public:
+	UnitTest();
+    virtual ~UnitTest();
+
+    virtual const char*     run_tests() = 0;
+    virtual void            print_results(const char* result);
+};
+
+
+
+#endif /* UNIT_TEST_H_ */