diff options
Diffstat (limited to 'unittests')
-rw-r--r-- | unittests/CMakeLists.txt | 23 | ||||
-rw-r--r-- | unittests/Makefile | 21 | ||||
-rw-r--r-- | unittests/conversion_test.cpp | 9 | ||||
-rw-r--r-- | unittests/mixer_test.cpp | 21 |
4 files changed, 42 insertions, 32 deletions
diff --git a/unittests/CMakeLists.txt b/unittests/CMakeLists.txt index d264ae8cd..7a7b2a731 100644 --- a/unittests/CMakeLists.txt +++ b/unittests/CMakeLists.txt @@ -11,16 +11,35 @@ include_directories(${CMAKE_SOURCE_DIR}/../src/modules) include_directories(${CMAKE_SOURCE_DIR}/../src/lib) add_definitions(-D__EXPORT=) +set(CMAKE_C_FLAGS "-std=c99") +set(CMAKE_CXX_FLAGS "-std=c++11 -Wno-write-strings") function(add_gtest) foreach(test_name ${ARGN}) target_link_libraries(${test_name} gtest_main) - add_test(${test_name}Test ${test_name}) + add_test(${test_name} ${test_name}) endforeach() endfunction() # add each test -# todo: add mixer_test sbus2_test st24_test sf0x_test +# todo: add sbus2_test st24_test sf0x_test add_executable(autodeclination_test autodeclination_test.cpp ${CMAKE_SOURCE_DIR}/../src/lib/geo_lookup/geo_mag_declination.c) add_gtest(autodeclination_test) + + +# mixer_test +add_executable(mixer_test mixer_test.cpp hrt.cpp + ${CMAKE_SOURCE_DIR}/../src/modules/systemlib/mixer/mixer.cpp + ${CMAKE_SOURCE_DIR}/../src/modules/systemlib/mixer/mixer_group.cpp + ${CMAKE_SOURCE_DIR}/../src/modules/systemlib/mixer/mixer_load.c + ${CMAKE_SOURCE_DIR}/../src/modules/systemlib/mixer/mixer_multirotor.cpp + ${CMAKE_SOURCE_DIR}/../src/modules/systemlib/mixer/mixer_simple.cpp + ${CMAKE_SOURCE_DIR}/../src/modules/systemlib/pwm_limit/pwm_limit.c + ${CMAKE_SOURCE_DIR}/../src/systemcmds/tests/test_mixer.cpp) +add_gtest(mixer_test) + +# conversion_test +add_executable(conversion_test conversion_test.cpp + ${CMAKE_SOURCE_DIR}/../src/systemcmds/tests/test_conv.cpp) +add_gtest(conversion_test) diff --git a/unittests/Makefile b/unittests/Makefile index 5faa50bb5..0c50b3814 100644 --- a/unittests/Makefile +++ b/unittests/Makefile @@ -40,18 +40,7 @@ gtest_main.a: gtest-all.o gtest_main.o $(AR) $(ARFLAGS) $@ $^ -all: mixer_test sbus2_test st24_test sf0x_test - -MIXER_FILES=../src/systemcmds/tests/test_mixer.cpp \ - ../src/systemcmds/tests/test_conv.cpp \ - ../src/modules/systemlib/mixer/mixer_simple.cpp \ - ../src/modules/systemlib/mixer/mixer_multirotor.cpp \ - ../src/modules/systemlib/mixer/mixer.cpp \ - ../src/modules/systemlib/mixer/mixer_group.cpp \ - ../src/modules/systemlib/mixer/mixer_load.c \ - ../src/modules/systemlib/pwm_limit/pwm_limit.c \ - hrt.cpp \ - mixer_test.cpp +all: sbus2_test st24_test sf0x_test SBUS2_FILES=../src/modules/px4iofirmware/sbus.c \ hrt.cpp \ @@ -66,9 +55,6 @@ SF0X_FILES= \ sf0x_test.cpp \ ../src/drivers/sf0x/sf0x_parser.cpp -mixer_test: $(MIXER_FILES) - $(CC) -o mixer_test $(MIXER_FILES) $(CFLAGS) - sbus2_test: $(SBUS2_FILES) $(CC) -o sbus2_test $(SBUS2_FILES) $(CFLAGS) @@ -82,12 +68,11 @@ cmake_gtests: mkdir -p build cd build && CC=gcc cmake .. && $(MAKE) && $(MAKE) test -unittests: clean mixer_test sbus2_test sf0x_test st24_test cmake_gtests - ./mixer_test +unittests: clean sbus2_test sf0x_test st24_test cmake_gtests ./sbus2_test ./sf0x_test ./st24_test .PHONY: clean clean: - rm -rf gtest.a gtest_main.a *.o $(ODIR)/*.o *~ core $(INCDIR)/*~ sample_unittest mixer_test sbus2_test st24_test sf0x_test build + rm -rf gtest.a gtest_main.a *.o $(ODIR)/*.o *~ core $(INCDIR)/*~ sample_unittest sbus2_test st24_test sf0x_test build diff --git a/unittests/conversion_test.cpp b/unittests/conversion_test.cpp new file mode 100644 index 000000000..99e1c7721 --- /dev/null +++ b/unittests/conversion_test.cpp @@ -0,0 +1,9 @@ +#include <systemlib/mixer/mixer.h> +#include <systemlib/err.h> +#include "../../src/systemcmds/tests/tests.h" + +#include "gtest/gtest.h" + +TEST(ConversionTest, FMU_quad_w) { + ASSERT_EQ(test_conv(0, NULL), 0) << "Conversion test failed"; +} diff --git a/unittests/mixer_test.cpp b/unittests/mixer_test.cpp index 4919e325c..1c808e052 100644 --- a/unittests/mixer_test.cpp +++ b/unittests/mixer_test.cpp @@ -2,18 +2,15 @@ #include <systemlib/err.h> #include "../../src/systemcmds/tests/tests.h" -int main(int argc, char *argv[]) { +#include "gtest/gtest.h" - int ret; - warnx("Host execution started"); - - char* args[] = {argv[0], "../ROMFS/px4fmu_common/mixers/IO_pass.mix", - "../ROMFS/px4fmu_common/mixers/FMU_quad_w.mix"}; - - if (ret = test_mixer(3, args)); - - test_conv(1, args); - - return 0; +TEST(MixerTest, IO_pass) { + char* args[] = {"mixer", "../../ROMFS/px4fmu_common/mixers/IO_pass.mix"}; + ASSERT_EQ(test_mixer(2, args), 0) << "IO_pass.mix failed"; } + +TEST(MixerTest, FMU_quad_w) { + char* args[] = {"mixer", "../../ROMFS/px4fmu_common/mixers/FMU_quad_w.mix"}; + ASSERT_EQ(test_mixer(2, args), 0) << "FMU_quad_w.mix failed"; +} |