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Remove some test duplication in RcControls unit rest by using test

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fixture classes.
This commit is contained in:
Dominic Clifton 2015-05-29 14:41:27 +01:00
parent dcc54a9aec
commit 0df22f8049
1 changed files with 29 additions and 56 deletions
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85
src/test/unit/rc_controls_unittest.cc
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@ -48,13 +48,18 @@ extern "C" {
extern void useRcControlsConfig(modeActivationCondition_t *modeActivationConditions, escAndServoConfig_t *escAndServoConfig, pidProfile_t *pidProfile); extern void useRcControlsConfig(modeActivationCondition_t *modeActivationConditions, escAndServoConfig_t *escAndServoConfig, pidProfile_t *pidProfile);
} }
TEST(RcControlsTest, updateActivatedModesWithAllInputsAtMidde) class RcControlsModesTest : public ::testing::Test {
protected:
modeActivationCondition_t modeActivationConditions[MAX_MODE_ACTIVATION_CONDITION_COUNT];
virtual void SetUp() {
memset(&modeActivationConditions, 0, sizeof(modeActivationConditions));
}
};
TEST_F(RcControlsModesTest, updateActivatedModesWithAllInputsAtMidde)
{ {
// given // given
modeActivationCondition_t modeActivationConditions[MAX_MODE_ACTIVATION_CONDITION_COUNT];
memset(&modeActivationConditions, 0, sizeof(modeActivationConditions));
// and
rcModeActivationMask = 0; rcModeActivationMask = 0;
// and // and
@ -79,12 +84,9 @@ TEST(RcControlsTest, updateActivatedModesWithAllInputsAtMidde)
} }
} }
TEST(RcControlsTest, updateActivatedModesUsingValidAuxConfigurationAndRXValues) TEST_F(RcControlsModesTest, updateActivatedModesUsingValidAuxConfigurationAndRXValues)
{ {
// given // given
modeActivationCondition_t modeActivationConditions[MAX_MODE_ACTIVATION_CONDITION_COUNT];
memset(&modeActivationConditions, 0, sizeof(modeActivationConditions));
modeActivationConditions[0].modeId = (boxId_e)0; modeActivationConditions[0].modeId = (boxId_e)0;
modeActivationConditions[0].auxChannelIndex = AUX1 - NON_AUX_CHANNEL_COUNT; modeActivationConditions[0].auxChannelIndex = AUX1 - NON_AUX_CHANNEL_COUNT;
modeActivationConditions[0].range.startStep = CHANNEL_VALUE_TO_STEP(1700); modeActivationConditions[0].range.startStep = CHANNEL_VALUE_TO_STEP(1700);
@ -232,7 +234,20 @@ static const adjustmentConfig_t rateAdjustmentConfig = {
.data = { { 1 } } .data = { { 1 } }
}; };
TEST(RcControlsTest, processRcAdjustmentsSticksInMiddle) class RcControlsAdjustmentsTest : public ::testing::Test {
protected:
virtual void SetUp() {
adjustmentStateMask = 0;
memset(&adjustmentStates, 0, sizeof(adjustmentStates));
memset(&rxConfig, 0, sizeof (rxConfig));
rxConfig.mincheck = DEFAULT_MIN_CHECK;
rxConfig.maxcheck = DEFAULT_MAX_CHECK;
rxConfig.midrc = 1500;
}
};
TEST_F(RcControlsAdjustmentsTest, processRcAdjustmentsSticksInMiddle)
{ {
// given // given
controlRateConfig_t controlRateConfig = { controlRateConfig_t controlRateConfig = {
@ -246,13 +261,6 @@ TEST(RcControlsTest, processRcAdjustmentsSticksInMiddle)
}; };
// and // and
memset(&rxConfig, 0, sizeof (rxConfig));
rxConfig.mincheck = DEFAULT_MIN_CHECK;
rxConfig.maxcheck = DEFAULT_MAX_CHECK;
rxConfig.midrc = 1500;
adjustmentStateMask = 0;
memset(&adjustmentStates, 0, sizeof(adjustmentStates));
configureAdjustment(0, AUX3 - NON_AUX_CHANNEL_COUNT, &rateAdjustmentConfig); configureAdjustment(0, AUX3 - NON_AUX_CHANNEL_COUNT, &rateAdjustmentConfig);
// and // and
@ -275,7 +283,7 @@ TEST(RcControlsTest, processRcAdjustmentsSticksInMiddle)
EXPECT_EQ(adjustmentStateMask, 0); EXPECT_EQ(adjustmentStateMask, 0);
} }
TEST(RcControlsTest, processRcAdjustmentsWithRcRateFunctionSwitchUp) TEST_F(RcControlsAdjustmentsTest, processRcAdjustmentsWithRcRateFunctionSwitchUp)
{ {
// given // given
controlRateConfig_t controlRateConfig = { controlRateConfig_t controlRateConfig = {
@ -289,14 +297,6 @@ TEST(RcControlsTest, processRcAdjustmentsWithRcRateFunctionSwitchUp)
}; };
// and // and
memset(&rxConfig, 0, sizeof (rxConfig));
rxConfig.mincheck = DEFAULT_MIN_CHECK;
rxConfig.maxcheck = DEFAULT_MAX_CHECK;
rxConfig.midrc = 1500;
// and
adjustmentStateMask = 0;
memset(&adjustmentStates, 0, sizeof(adjustmentStates));
configureAdjustment(0, AUX3 - NON_AUX_CHANNEL_COUNT, &rateAdjustmentConfig); configureAdjustment(0, AUX3 - NON_AUX_CHANNEL_COUNT, &rateAdjustmentConfig);
// and // and
@ -441,7 +441,7 @@ static const adjustmentConfig_t rateProfileAdjustmentConfig = {
.data = { { 3 } } .data = { { 3 } }
}; };
TEST(RcControlsTest, processRcRateProfileAdjustments) TEST_F(RcControlsAdjustmentsTest, processRcRateProfileAdjustments)
{ {
// given // given
controlRateConfig_t controlRateConfig = { controlRateConfig_t controlRateConfig = {
@ -454,15 +454,6 @@ TEST(RcControlsTest, processRcRateProfileAdjustments)
.tpa_breakpoint = 0 .tpa_breakpoint = 0
}; };
// and
memset(&rxConfig, 0, sizeof (rxConfig));
rxConfig.mincheck = DEFAULT_MIN_CHECK;
rxConfig.maxcheck = DEFAULT_MAX_CHECK;
rxConfig.midrc = 1500;
adjustmentStateMask = 0;
memset(&adjustmentStates, 0, sizeof(adjustmentStates));
int adjustmentIndex = 3; int adjustmentIndex = 3;
configureAdjustment(adjustmentIndex, AUX4 - NON_AUX_CHANNEL_COUNT, &rateProfileAdjustmentConfig); configureAdjustment(adjustmentIndex, AUX4 - NON_AUX_CHANNEL_COUNT, &rateProfileAdjustmentConfig);
@ -528,7 +519,7 @@ static const adjustmentConfig_t pidYawDAdjustmentConfig = {
.data = { { 1 } } .data = { { 1 } }
}; };
TEST(RcControlsTest, processPIDIncreasePidController0) TEST_F(RcControlsAdjustmentsTest, processPIDIncreasePidController0)
{ {
// given // given
modeActivationCondition_t modeActivationConditions[MAX_MODE_ACTIVATION_CONDITION_COUNT]; modeActivationCondition_t modeActivationConditions[MAX_MODE_ACTIVATION_CONDITION_COUNT];
@ -554,15 +545,6 @@ TEST(RcControlsTest, processPIDIncreasePidController0)
controlRateConfig_t controlRateConfig; controlRateConfig_t controlRateConfig;
memset(&controlRateConfig, 0, sizeof (controlRateConfig)); memset(&controlRateConfig, 0, sizeof (controlRateConfig));
// and
memset(&rxConfig, 0, sizeof (rxConfig));
rxConfig.mincheck = DEFAULT_MIN_CHECK;
rxConfig.maxcheck = DEFAULT_MAX_CHECK;
rxConfig.midrc = 1500;
adjustmentStateMask = 0;
memset(&adjustmentStates, 0, sizeof(adjustmentStates));
configureAdjustment(0, AUX1 - NON_AUX_CHANNEL_COUNT, &pidPitchAndRollPAdjustmentConfig); configureAdjustment(0, AUX1 - NON_AUX_CHANNEL_COUNT, &pidPitchAndRollPAdjustmentConfig);
configureAdjustment(1, AUX2 - NON_AUX_CHANNEL_COUNT, &pidPitchAndRollIAdjustmentConfig); configureAdjustment(1, AUX2 - NON_AUX_CHANNEL_COUNT, &pidPitchAndRollIAdjustmentConfig);
configureAdjustment(2, AUX3 - NON_AUX_CHANNEL_COUNT, &pidPitchAndRollDAdjustmentConfig); configureAdjustment(2, AUX3 - NON_AUX_CHANNEL_COUNT, &pidPitchAndRollDAdjustmentConfig);
@ -614,7 +596,7 @@ TEST(RcControlsTest, processPIDIncreasePidController0)
EXPECT_EQ(28, pidProfile.D8[YAW]); EXPECT_EQ(28, pidProfile.D8[YAW]);
} }
TEST(RcControlsTest, processPIDIncreasePidController2) TEST_F(RcControlsAdjustmentsTest, processPIDIncreasePidController2)
{ {
// given // given
modeActivationCondition_t modeActivationConditions[MAX_MODE_ACTIVATION_CONDITION_COUNT]; modeActivationCondition_t modeActivationConditions[MAX_MODE_ACTIVATION_CONDITION_COUNT];
@ -640,15 +622,6 @@ TEST(RcControlsTest, processPIDIncreasePidController2)
controlRateConfig_t controlRateConfig; controlRateConfig_t controlRateConfig;
memset(&controlRateConfig, 0, sizeof (controlRateConfig)); memset(&controlRateConfig, 0, sizeof (controlRateConfig));
// and
memset(&rxConfig, 0, sizeof (rxConfig));
rxConfig.mincheck = DEFAULT_MIN_CHECK;
rxConfig.maxcheck = DEFAULT_MAX_CHECK;
rxConfig.midrc = 1500;
adjustmentStateMask = 0;
memset(&adjustmentStates, 0, sizeof(adjustmentStates));
configureAdjustment(0, AUX1 - NON_AUX_CHANNEL_COUNT, &pidPitchAndRollPAdjustmentConfig); configureAdjustment(0, AUX1 - NON_AUX_CHANNEL_COUNT, &pidPitchAndRollPAdjustmentConfig);
configureAdjustment(1, AUX2 - NON_AUX_CHANNEL_COUNT, &pidPitchAndRollIAdjustmentConfig); configureAdjustment(1, AUX2 - NON_AUX_CHANNEL_COUNT, &pidPitchAndRollIAdjustmentConfig);
configureAdjustment(2, AUX3 - NON_AUX_CHANNEL_COUNT, &pidPitchAndRollDAdjustmentConfig); configureAdjustment(2, AUX3 - NON_AUX_CHANNEL_COUNT, &pidPitchAndRollDAdjustmentConfig);