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Add the more unit tests for the mixer.

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Closes #16
This commit is contained in:
Dominic Clifton 2015-03-16 22:56:14 +01:00
parent 3e8ce5833f
commit 03b1adb042
1 changed files with 52 additions and 1 deletions
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53
src/test/unit/flight_mixer_unittest.cc
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@ -65,7 +65,6 @@ uint8_t lastOneShotUpdateMotorCount;
TEST(FlightMixerTest, TestForwardAuxChannelsToServosWithNoServos) TEST(FlightMixerTest, TestForwardAuxChannelsToServosWithNoServos)
{ {
// given // given
memset(&motors, 0, sizeof(motors));
memset(&servos, 0, sizeof(servos)); memset(&servos, 0, sizeof(servos));
servoCount = 0; servoCount = 0;
@ -83,6 +82,58 @@ TEST(FlightMixerTest, TestForwardAuxChannelsToServosWithNoServos)
} }
} }
TEST(FlightMixerTest, TestForwardAuxChannelsToServosWithMaxServos)
{
// given
memset(&servos, 0, sizeof(servos));
servoCount = MAX_SUPPORTED_SERVOS;
rcData[AUX1] = 1000;
rcData[AUX2] = 1250;
rcData[AUX3] = 1750;
rcData[AUX4] = 2000;
// when
forwardAuxChannelsToServos();
// then
uint8_t i;
for (i = 0; i < MAX_SUPPORTED_SERVOS - 4; i++) {
EXPECT_EQ(servos[i].value, 0);
}
// -1 for zero based offset
EXPECT_EQ(servos[MAX_SUPPORTED_SERVOS - 3 - 1].value, 1000);
EXPECT_EQ(servos[MAX_SUPPORTED_SERVOS - 2 - 1].value, 1250);
EXPECT_EQ(servos[MAX_SUPPORTED_SERVOS - 1 - 1].value, 1750);
EXPECT_EQ(servos[MAX_SUPPORTED_SERVOS - 0 - 1].value, 2000);
}
TEST(FlightMixerTest, TestForwardAuxChannelsToServosWithLessServosThanAuxChannelsToForward)
{
// given
memset(&servos, 0, sizeof(servos));
servoCount = 2;
rcData[AUX1] = 1000;
rcData[AUX2] = 1250;
rcData[AUX3] = 1750;
rcData[AUX4] = 2000;
// when
forwardAuxChannelsToServos();
// then
uint8_t i;
for (i = 2; i < MAX_SUPPORTED_SERVOS; i++) {
EXPECT_EQ(servos[i].value, 0);
}
// -1 for zero based offset
EXPECT_EQ(servos[0].value, 1000);
EXPECT_EQ(servos[1].value, 1250);
}
// STUBS // STUBS
extern "C" { extern "C" {