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Improved tests.

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This commit is contained in:
mikeller 2019-11-20 00:29:07 +13:00
parent c1b9e927a6
commit 5808bfd6f3
11 changed files with 158 additions and 154 deletions
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82
src/test/unit/blackbox_unittest.cc
View file

@ -125,16 +125,16 @@ TEST(BlackboxTest, Test_500Hz)
// 500Hz PIDloop // 500Hz PIDloop
targetPidLooptime = 2000; targetPidLooptime = 2000;
blackboxInit(); blackboxInit();
EXPECT_EQ(true, blackboxShouldLogIFrame()); EXPECT_TRUE(blackboxShouldLogIFrame());
EXPECT_EQ(true, blackboxShouldLogPFrame()); EXPECT_TRUE(blackboxShouldLogPFrame());
for (int ii = 0; ii < 15; ++ii) { for (int ii = 0; ii < 15; ++ii) {
blackboxAdvanceIterationTimers(); blackboxAdvanceIterationTimers();
EXPECT_EQ(false, blackboxShouldLogIFrame()); EXPECT_FALSE(blackboxShouldLogIFrame());
EXPECT_EQ(true, blackboxShouldLogPFrame()); EXPECT_TRUE(blackboxShouldLogPFrame());
} }
blackboxAdvanceIterationTimers(); blackboxAdvanceIterationTimers();
EXPECT_EQ(true, blackboxShouldLogIFrame()); EXPECT_TRUE(blackboxShouldLogIFrame());
EXPECT_EQ(true, blackboxShouldLogPFrame()); EXPECT_TRUE(blackboxShouldLogPFrame());
} }
TEST(BlackboxTest, Test_1kHz) TEST(BlackboxTest, Test_1kHz)
@ -143,24 +143,24 @@ TEST(BlackboxTest, Test_1kHz)
// 1kHz PIDloop // 1kHz PIDloop
targetPidLooptime = 1000; targetPidLooptime = 1000;
blackboxInit(); blackboxInit();
EXPECT_EQ(true, blackboxShouldLogIFrame()); EXPECT_TRUE(blackboxShouldLogIFrame());
EXPECT_EQ(true, blackboxShouldLogPFrame()); EXPECT_TRUE(blackboxShouldLogPFrame());
EXPECT_EQ(0, blackboxSlowFrameIterationTimer); EXPECT_EQ(0, blackboxSlowFrameIterationTimer);
EXPECT_EQ(false, blackboxSlowFrameIterationTimer >= blackboxSInterval); EXPECT_FALSE(blackboxSlowFrameIterationTimer >= blackboxSInterval);
blackboxSlowFrameIterationTimer = blackboxSInterval; blackboxSlowFrameIterationTimer = blackboxSInterval;
EXPECT_EQ(true, writeSlowFrameIfNeeded()); EXPECT_TRUE(writeSlowFrameIfNeeded());
EXPECT_EQ(0, blackboxSlowFrameIterationTimer); EXPECT_EQ(0, blackboxSlowFrameIterationTimer);
for (int ii = 0; ii < 31; ++ii) { for (int ii = 0; ii < 31; ++ii) {
blackboxAdvanceIterationTimers(); blackboxAdvanceIterationTimers();
EXPECT_EQ(false, blackboxShouldLogIFrame()); EXPECT_FALSE(blackboxShouldLogIFrame());
EXPECT_EQ(true, blackboxShouldLogPFrame()); EXPECT_TRUE(blackboxShouldLogPFrame());
EXPECT_EQ(ii + 1, blackboxSlowFrameIterationTimer); EXPECT_EQ(ii + 1, blackboxSlowFrameIterationTimer);
EXPECT_EQ(false, writeSlowFrameIfNeeded()); EXPECT_FALSE(writeSlowFrameIfNeeded());
} }
blackboxAdvanceIterationTimers(); blackboxAdvanceIterationTimers();
EXPECT_EQ(true, blackboxShouldLogIFrame()); EXPECT_TRUE(blackboxShouldLogIFrame());
EXPECT_EQ(true, blackboxShouldLogPFrame()); EXPECT_TRUE(blackboxShouldLogPFrame());
} }
TEST(BlackboxTest, Test_2kHz) TEST(BlackboxTest, Test_2kHz)
@ -171,29 +171,29 @@ TEST(BlackboxTest, Test_2kHz)
blackboxInit(); blackboxInit();
EXPECT_EQ(64, blackboxIInterval); EXPECT_EQ(64, blackboxIInterval);
EXPECT_EQ(2, blackboxPInterval); EXPECT_EQ(2, blackboxPInterval);
EXPECT_EQ(true, blackboxShouldLogIFrame()); EXPECT_TRUE(blackboxShouldLogIFrame());
EXPECT_EQ(true, blackboxShouldLogPFrame()); EXPECT_TRUE(blackboxShouldLogPFrame());
blackboxAdvanceIterationTimers(); blackboxAdvanceIterationTimers();
EXPECT_EQ(false, blackboxShouldLogIFrame()); EXPECT_FALSE(blackboxShouldLogIFrame());
EXPECT_EQ(false, blackboxShouldLogPFrame()); EXPECT_FALSE(blackboxShouldLogPFrame());
for (int ii = 0; ii < 31; ++ii) { for (int ii = 0; ii < 31; ++ii) {
blackboxAdvanceIterationTimers(); blackboxAdvanceIterationTimers();
EXPECT_EQ(false, blackboxShouldLogIFrame()); EXPECT_FALSE(blackboxShouldLogIFrame());
EXPECT_EQ(true, blackboxShouldLogPFrame()); EXPECT_TRUE(blackboxShouldLogPFrame());
blackboxAdvanceIterationTimers(); blackboxAdvanceIterationTimers();
EXPECT_EQ(false, blackboxShouldLogIFrame()); EXPECT_FALSE(blackboxShouldLogIFrame());
EXPECT_EQ(false, blackboxShouldLogPFrame()); EXPECT_FALSE(blackboxShouldLogPFrame());
} }
blackboxAdvanceIterationTimers(); blackboxAdvanceIterationTimers();
EXPECT_EQ(true, blackboxShouldLogIFrame()); EXPECT_TRUE(blackboxShouldLogIFrame());
EXPECT_EQ(true, blackboxShouldLogPFrame()); EXPECT_TRUE(blackboxShouldLogPFrame());
blackboxAdvanceIterationTimers(); blackboxAdvanceIterationTimers();
EXPECT_EQ(false, blackboxShouldLogIFrame()); EXPECT_FALSE(blackboxShouldLogIFrame());
EXPECT_EQ(false, blackboxShouldLogPFrame()); EXPECT_FALSE(blackboxShouldLogPFrame());
} }
TEST(BlackboxTest, Test_8kHz) TEST(BlackboxTest, Test_8kHz)
@ -202,23 +202,23 @@ TEST(BlackboxTest, Test_8kHz)
// 8kHz PIDloop // 8kHz PIDloop
targetPidLooptime = 125; targetPidLooptime = 125;
blackboxInit(); blackboxInit();
EXPECT_EQ(true, blackboxShouldLogIFrame()); EXPECT_TRUE(blackboxShouldLogIFrame());
EXPECT_EQ(true, blackboxShouldLogPFrame()); EXPECT_TRUE(blackboxShouldLogPFrame());
EXPECT_EQ(0, blackboxSlowFrameIterationTimer); EXPECT_EQ(0, blackboxSlowFrameIterationTimer);
EXPECT_EQ(false, blackboxSlowFrameIterationTimer >= blackboxSInterval); EXPECT_FALSE(blackboxSlowFrameIterationTimer >= blackboxSInterval);
blackboxSlowFrameIterationTimer = blackboxSInterval; blackboxSlowFrameIterationTimer = blackboxSInterval;
EXPECT_EQ(true, writeSlowFrameIfNeeded()); EXPECT_TRUE(writeSlowFrameIfNeeded());
EXPECT_EQ(0, blackboxSlowFrameIterationTimer); EXPECT_EQ(0, blackboxSlowFrameIterationTimer);
for (int ii = 0; ii < 255; ++ii) { for (int ii = 0; ii < 255; ++ii) {
blackboxAdvanceIterationTimers(); blackboxAdvanceIterationTimers();
EXPECT_EQ(false, blackboxShouldLogIFrame()); EXPECT_FALSE(blackboxShouldLogIFrame());
EXPECT_EQ(ii + 1, blackboxSlowFrameIterationTimer); EXPECT_EQ(ii + 1, blackboxSlowFrameIterationTimer);
EXPECT_EQ(false, writeSlowFrameIfNeeded()); EXPECT_FALSE(writeSlowFrameIfNeeded());
} }
blackboxAdvanceIterationTimers(); blackboxAdvanceIterationTimers();
EXPECT_EQ(true, blackboxShouldLogIFrame()); EXPECT_TRUE(blackboxShouldLogIFrame());
EXPECT_EQ(true, blackboxShouldLogPFrame()); EXPECT_TRUE(blackboxShouldLogPFrame());
} }
TEST(BlackboxTest, Test_zero_p_ratio) TEST(BlackboxTest, Test_zero_p_ratio)
@ -229,17 +229,17 @@ TEST(BlackboxTest, Test_zero_p_ratio)
blackboxInit(); blackboxInit();
EXPECT_EQ(32, blackboxIInterval); EXPECT_EQ(32, blackboxIInterval);
EXPECT_EQ(0, blackboxPInterval); EXPECT_EQ(0, blackboxPInterval);
EXPECT_EQ(true, blackboxShouldLogIFrame()); EXPECT_TRUE(blackboxShouldLogIFrame());
EXPECT_EQ(false, blackboxShouldLogPFrame()); EXPECT_FALSE(blackboxShouldLogPFrame());
for (int ii = 0; ii < 31; ++ii) { for (int ii = 0; ii < 31; ++ii) {
blackboxAdvanceIterationTimers(); blackboxAdvanceIterationTimers();
EXPECT_EQ(false, blackboxShouldLogIFrame()); EXPECT_FALSE(blackboxShouldLogIFrame());
EXPECT_EQ(false, blackboxShouldLogPFrame()); EXPECT_FALSE(blackboxShouldLogPFrame());
} }
blackboxAdvanceIterationTimers(); blackboxAdvanceIterationTimers();
EXPECT_EQ(true, blackboxShouldLogIFrame()); EXPECT_TRUE(blackboxShouldLogIFrame());
EXPECT_EQ(false, blackboxShouldLogPFrame()); EXPECT_FALSE(blackboxShouldLogPFrame());
} }
TEST(BlackboxTest, Test_CalculatePDenom) TEST(BlackboxTest, Test_CalculatePDenom)

2
src/test/unit/cli_unittest.cc
View file

@ -116,7 +116,7 @@ TEST(CLIUnittest, TestCliSetArray)
//cliGet((char *)"osd_item_vbat"); //cliGet((char *)"osd_item_vbat");
//EXPECT_EQ(false, false); //EXPECT_FALSE(false);
} }
TEST(CLIUnittest, TestCliSetStringNoFlags) TEST(CLIUnittest, TestCliSetStringNoFlags)

4
src/test/unit/cms_unittest.cc
View file

@ -48,10 +48,10 @@ TEST(CMSUnittest, TestCmsDisplayPortRegister)
displayPort_t *displayPort = displayPortTestInit(); displayPort_t *displayPort = displayPortTestInit();
for (int ii = 0; ii < CMS_MAX_DEVICE; ++ii) { for (int ii = 0; ii < CMS_MAX_DEVICE; ++ii) {
const bool registered = cmsDisplayPortRegister(displayPort); const bool registered = cmsDisplayPortRegister(displayPort);
EXPECT_EQ(true, registered); EXPECT_TRUE(registered);
} }
const bool registered = cmsDisplayPortRegister(displayPort); const bool registered = cmsDisplayPortRegister(displayPort);
EXPECT_EQ(false, registered); EXPECT_FALSE(registered);
} }
TEST(CMSUnittest, TestCmsMenuOpen) TEST(CMSUnittest, TestCmsMenuOpen)

52
src/test/unit/flight_failsafe_unittest.cc
View file

@ -118,8 +118,8 @@ TEST(FlightFailsafeTest, TestFailsafeInitialState)
failsafeReset(); failsafeReset();
// then // then
EXPECT_EQ(false, failsafeIsMonitoring()); EXPECT_FALSE(failsafeIsMonitoring());
EXPECT_EQ(false, failsafeIsActive()); EXPECT_FALSE(failsafeIsActive());
EXPECT_EQ(FAILSAFE_IDLE, failsafePhase()); EXPECT_EQ(FAILSAFE_IDLE, failsafePhase());
} }
@ -130,8 +130,8 @@ TEST(FlightFailsafeTest, TestFailsafeStartMonitoring)
failsafeStartMonitoring(); failsafeStartMonitoring();
// then // then
EXPECT_EQ(true, failsafeIsMonitoring()); EXPECT_TRUE(failsafeIsMonitoring());
EXPECT_EQ(false, failsafeIsActive()); EXPECT_FALSE(failsafeIsActive());
EXPECT_EQ(FAILSAFE_IDLE, failsafePhase()); EXPECT_EQ(FAILSAFE_IDLE, failsafePhase());
} }
@ -150,7 +150,7 @@ TEST(FlightFailsafeTest, TestFailsafeFirstArmedCycle)
failsafeUpdateState(); failsafeUpdateState();
// then // then
EXPECT_EQ(false, failsafeIsActive()); EXPECT_FALSE(failsafeIsActive());
EXPECT_EQ(FAILSAFE_IDLE, failsafePhase()); EXPECT_EQ(FAILSAFE_IDLE, failsafePhase());
} }
@ -164,7 +164,7 @@ TEST(FlightFailsafeTest, TestFailsafeNotActivatedWhenReceivingData)
failsafeUpdateState(); failsafeUpdateState();
// then // then
EXPECT_EQ(false, failsafeIsActive()); EXPECT_FALSE(failsafeIsActive());
EXPECT_EQ(FAILSAFE_IDLE, failsafePhase()); EXPECT_EQ(FAILSAFE_IDLE, failsafePhase());
} }
} }
@ -188,7 +188,7 @@ TEST(FlightFailsafeTest, TestFailsafeDetectsRxLossAndStartsLanding)
failsafeUpdateState(); failsafeUpdateState();
// then // then
EXPECT_EQ(false, failsafeIsActive()); EXPECT_FALSE(failsafeIsActive());
EXPECT_EQ(FAILSAFE_IDLE, failsafePhase()); EXPECT_EQ(FAILSAFE_IDLE, failsafePhase());
} }
@ -201,7 +201,7 @@ TEST(FlightFailsafeTest, TestFailsafeDetectsRxLossAndStartsLanding)
// then // then
EXPECT_EQ(FAILSAFE_LANDING, failsafePhase()); EXPECT_EQ(FAILSAFE_LANDING, failsafePhase());
EXPECT_EQ(true, failsafeIsActive()); EXPECT_TRUE(failsafeIsActive());
} }
/****************************************************************************************/ /****************************************************************************************/
@ -216,7 +216,7 @@ TEST(FlightFailsafeTest, TestFailsafeCausesLanding)
failsafeUpdateState(); failsafeUpdateState();
// then // then
EXPECT_EQ(true, failsafeIsActive()); EXPECT_TRUE(failsafeIsActive());
EXPECT_EQ(FAILSAFE_RX_LOSS_MONITORING, failsafePhase()); EXPECT_EQ(FAILSAFE_RX_LOSS_MONITORING, failsafePhase());
EXPECT_EQ(1, CALL_COUNTER(COUNTER_MW_DISARM)); EXPECT_EQ(1, CALL_COUNTER(COUNTER_MW_DISARM));
EXPECT_TRUE(isArmingDisabled()); EXPECT_TRUE(isArmingDisabled());
@ -230,7 +230,7 @@ TEST(FlightFailsafeTest, TestFailsafeCausesLanding)
failsafeUpdateState(); failsafeUpdateState();
// then // then
EXPECT_EQ(true, failsafeIsActive()); EXPECT_TRUE(failsafeIsActive());
EXPECT_EQ(FAILSAFE_RX_LOSS_MONITORING, failsafePhase()); EXPECT_EQ(FAILSAFE_RX_LOSS_MONITORING, failsafePhase());
EXPECT_EQ(1, CALL_COUNTER(COUNTER_MW_DISARM)); EXPECT_EQ(1, CALL_COUNTER(COUNTER_MW_DISARM));
EXPECT_TRUE(isArmingDisabled()); EXPECT_TRUE(isArmingDisabled());
@ -243,7 +243,7 @@ TEST(FlightFailsafeTest, TestFailsafeCausesLanding)
failsafeUpdateState(); failsafeUpdateState();
// then // then
EXPECT_EQ(false, failsafeIsActive()); EXPECT_FALSE(failsafeIsActive());
EXPECT_EQ(FAILSAFE_IDLE, failsafePhase()); EXPECT_EQ(FAILSAFE_IDLE, failsafePhase());
EXPECT_EQ(1, CALL_COUNTER(COUNTER_MW_DISARM)); // disarm not called repeatedly. EXPECT_EQ(1, CALL_COUNTER(COUNTER_MW_DISARM)); // disarm not called repeatedly.
EXPECT_FALSE(isArmingDisabled()); EXPECT_FALSE(isArmingDisabled());
@ -269,7 +269,7 @@ TEST(FlightFailsafeTest, TestFailsafeDetectsRxLossAndJustDisarms)
failsafeUpdateState(); failsafeUpdateState();
// then // then
EXPECT_EQ(false, failsafeIsActive()); EXPECT_FALSE(failsafeIsActive());
EXPECT_EQ(FAILSAFE_IDLE, failsafePhase()); EXPECT_EQ(FAILSAFE_IDLE, failsafePhase());
} }
@ -282,7 +282,7 @@ TEST(FlightFailsafeTest, TestFailsafeDetectsRxLossAndJustDisarms)
failsafeUpdateState(); failsafeUpdateState();
// then // then
EXPECT_EQ(true, failsafeIsActive()); EXPECT_TRUE(failsafeIsActive());
EXPECT_EQ(FAILSAFE_RX_LOSS_MONITORING, failsafePhase()); EXPECT_EQ(FAILSAFE_RX_LOSS_MONITORING, failsafePhase());
EXPECT_EQ(1, CALL_COUNTER(COUNTER_MW_DISARM)); EXPECT_EQ(1, CALL_COUNTER(COUNTER_MW_DISARM));
EXPECT_TRUE(isArmingDisabled()); EXPECT_TRUE(isArmingDisabled());
@ -296,7 +296,7 @@ TEST(FlightFailsafeTest, TestFailsafeDetectsRxLossAndJustDisarms)
failsafeUpdateState(); failsafeUpdateState();
// then // then
EXPECT_EQ(true, failsafeIsActive()); EXPECT_TRUE(failsafeIsActive());
EXPECT_EQ(FAILSAFE_RX_LOSS_MONITORING, failsafePhase()); EXPECT_EQ(FAILSAFE_RX_LOSS_MONITORING, failsafePhase());
EXPECT_EQ(1, CALL_COUNTER(COUNTER_MW_DISARM)); EXPECT_EQ(1, CALL_COUNTER(COUNTER_MW_DISARM));
EXPECT_TRUE(isArmingDisabled()); EXPECT_TRUE(isArmingDisabled());
@ -309,7 +309,7 @@ TEST(FlightFailsafeTest, TestFailsafeDetectsRxLossAndJustDisarms)
failsafeUpdateState(); failsafeUpdateState();
// then // then
EXPECT_EQ(false, failsafeIsActive()); EXPECT_FALSE(failsafeIsActive());
EXPECT_EQ(FAILSAFE_IDLE, failsafePhase()); EXPECT_EQ(FAILSAFE_IDLE, failsafePhase());
EXPECT_EQ(1, CALL_COUNTER(COUNTER_MW_DISARM)); // disarm not called repeatedly. EXPECT_EQ(1, CALL_COUNTER(COUNTER_MW_DISARM)); // disarm not called repeatedly.
EXPECT_FALSE(isArmingDisabled()); EXPECT_FALSE(isArmingDisabled());
@ -338,7 +338,7 @@ TEST(FlightFailsafeTest, TestFailsafeSwitchModeKill)
failsafeUpdateState(); // kill switch handling should come first failsafeUpdateState(); // kill switch handling should come first
// then // then
EXPECT_EQ(true, failsafeIsActive()); EXPECT_TRUE(failsafeIsActive());
EXPECT_TRUE(isArmingDisabled()); EXPECT_TRUE(isArmingDisabled());
EXPECT_EQ(1, CALL_COUNTER(COUNTER_MW_DISARM)); EXPECT_EQ(1, CALL_COUNTER(COUNTER_MW_DISARM));
EXPECT_EQ(FAILSAFE_RX_LOSS_MONITORING, failsafePhase()); EXPECT_EQ(FAILSAFE_RX_LOSS_MONITORING, failsafePhase());
@ -354,7 +354,7 @@ TEST(FlightFailsafeTest, TestFailsafeSwitchModeKill)
failsafeUpdateState(); failsafeUpdateState();
// then // then
EXPECT_EQ(true, failsafeIsActive()); EXPECT_TRUE(failsafeIsActive());
EXPECT_TRUE(isArmingDisabled()); EXPECT_TRUE(isArmingDisabled());
EXPECT_EQ(1, CALL_COUNTER(COUNTER_MW_DISARM)); EXPECT_EQ(1, CALL_COUNTER(COUNTER_MW_DISARM));
EXPECT_EQ(FAILSAFE_RX_LOSS_MONITORING, failsafePhase()); EXPECT_EQ(FAILSAFE_RX_LOSS_MONITORING, failsafePhase());
@ -367,7 +367,7 @@ TEST(FlightFailsafeTest, TestFailsafeSwitchModeKill)
failsafeUpdateState(); failsafeUpdateState();
// then // then
EXPECT_EQ(false, failsafeIsActive()); EXPECT_FALSE(failsafeIsActive());
EXPECT_EQ(FAILSAFE_IDLE, failsafePhase()); EXPECT_EQ(FAILSAFE_IDLE, failsafePhase());
EXPECT_EQ(1, CALL_COUNTER(COUNTER_MW_DISARM)); // disarm not called repeatedly. EXPECT_EQ(1, CALL_COUNTER(COUNTER_MW_DISARM)); // disarm not called repeatedly.
EXPECT_FALSE(isArmingDisabled()); EXPECT_FALSE(isArmingDisabled());
@ -394,7 +394,7 @@ TEST(FlightFailsafeTest, TestFailsafeSwitchModeStage2Drop)
failsafeUpdateState(); // should activate stage2 immediately failsafeUpdateState(); // should activate stage2 immediately
// then // then
EXPECT_EQ(true, failsafeIsActive()); EXPECT_TRUE(failsafeIsActive());
EXPECT_TRUE(isArmingDisabled()); EXPECT_TRUE(isArmingDisabled());
EXPECT_EQ(1, CALL_COUNTER(COUNTER_MW_DISARM)); EXPECT_EQ(1, CALL_COUNTER(COUNTER_MW_DISARM));
EXPECT_EQ(FAILSAFE_RX_LOSS_MONITORING, failsafePhase()); EXPECT_EQ(FAILSAFE_RX_LOSS_MONITORING, failsafePhase());
@ -408,7 +408,7 @@ TEST(FlightFailsafeTest, TestFailsafeSwitchModeStage2Drop)
failsafeUpdateState(); failsafeUpdateState();
// then // then
EXPECT_EQ(false, failsafeIsActive()); EXPECT_FALSE(failsafeIsActive());
EXPECT_EQ(FAILSAFE_IDLE, failsafePhase()); EXPECT_EQ(FAILSAFE_IDLE, failsafePhase());
EXPECT_EQ(1, CALL_COUNTER(COUNTER_MW_DISARM)); // disarm not called repeatedly. EXPECT_EQ(1, CALL_COUNTER(COUNTER_MW_DISARM)); // disarm not called repeatedly.
EXPECT_FALSE(isArmingDisabled()); EXPECT_FALSE(isArmingDisabled());
@ -434,7 +434,7 @@ TEST(FlightFailsafeTest, TestFailsafeSwitchModeStage2Land)
failsafeUpdateState(); // should activate stage2 immediately failsafeUpdateState(); // should activate stage2 immediately
// then // then
EXPECT_EQ(true, failsafeIsActive()); EXPECT_TRUE(failsafeIsActive());
EXPECT_TRUE(isArmingDisabled()); EXPECT_TRUE(isArmingDisabled());
EXPECT_EQ(0, CALL_COUNTER(COUNTER_MW_DISARM)); EXPECT_EQ(0, CALL_COUNTER(COUNTER_MW_DISARM));
EXPECT_EQ(FAILSAFE_LANDING, failsafePhase()); EXPECT_EQ(FAILSAFE_LANDING, failsafePhase());
@ -449,7 +449,7 @@ TEST(FlightFailsafeTest, TestFailsafeSwitchModeStage2Land)
failsafeUpdateState(); failsafeUpdateState();
// then // then
EXPECT_EQ(true, failsafeIsActive()); EXPECT_TRUE(failsafeIsActive());
EXPECT_TRUE(isArmingDisabled()); EXPECT_TRUE(isArmingDisabled());
EXPECT_EQ(1, CALL_COUNTER(COUNTER_MW_DISARM)); EXPECT_EQ(1, CALL_COUNTER(COUNTER_MW_DISARM));
EXPECT_EQ(FAILSAFE_RX_LOSS_MONITORING, failsafePhase()); EXPECT_EQ(FAILSAFE_RX_LOSS_MONITORING, failsafePhase());
@ -465,7 +465,7 @@ TEST(FlightFailsafeTest, TestFailsafeSwitchModeStage2Land)
failsafeUpdateState(); failsafeUpdateState();
// then // then
EXPECT_EQ(false, failsafeIsActive()); EXPECT_FALSE(failsafeIsActive());
EXPECT_EQ(FAILSAFE_IDLE, failsafePhase()); EXPECT_EQ(FAILSAFE_IDLE, failsafePhase());
EXPECT_EQ(1, CALL_COUNTER(COUNTER_MW_DISARM)); // disarm not called repeatedly. EXPECT_EQ(1, CALL_COUNTER(COUNTER_MW_DISARM)); // disarm not called repeatedly.
EXPECT_FALSE(isArmingDisabled()); EXPECT_FALSE(isArmingDisabled());
@ -503,7 +503,7 @@ TEST(FlightFailsafeTest, TestFailsafeNotActivatedWhenDisarmedAndRXLossIsDetected
failsafeUpdateState(); failsafeUpdateState();
// then // then
EXPECT_EQ(false, failsafeIsActive()); EXPECT_FALSE(failsafeIsActive());
EXPECT_EQ(FAILSAFE_IDLE, failsafePhase()); EXPECT_EQ(FAILSAFE_IDLE, failsafePhase());
} }
@ -515,8 +515,8 @@ TEST(FlightFailsafeTest, TestFailsafeNotActivatedWhenDisarmedAndRXLossIsDetected
failsafeUpdateState(); failsafeUpdateState();
// then // then
EXPECT_EQ(true, failsafeIsMonitoring()); EXPECT_TRUE(failsafeIsMonitoring());
EXPECT_EQ(false, failsafeIsActive()); EXPECT_FALSE(failsafeIsActive());
EXPECT_EQ(FAILSAFE_IDLE, failsafePhase()); EXPECT_EQ(FAILSAFE_IDLE, failsafePhase());
EXPECT_EQ(0, CALL_COUNTER(COUNTER_MW_DISARM)); EXPECT_EQ(0, CALL_COUNTER(COUNTER_MW_DISARM));
EXPECT_TRUE(isArmingDisabled()); EXPECT_TRUE(isArmingDisabled());

8
src/test/unit/flight_imu_unittest.cc
View file

@ -175,7 +175,11 @@ TEST(FlightImuTest, TestSmallAngle)
imuComputeRotationMatrix(); imuComputeRotationMatrix();
// expect // expect
<<<<<<< HEAD
EXPECT_EQ(false, isUpright()); EXPECT_EQ(false, isUpright());
=======
EXPECT_TRUE(isUpright());
>>>>>>> Improved tests.
// given // given
rMat[0][0] = r1; rMat[0][0] = r1;
@ -187,7 +191,7 @@ TEST(FlightImuTest, TestSmallAngle)
imuComputeRotationMatrix(); imuComputeRotationMatrix();
// expect // expect
EXPECT_EQ(false, isUpright()); EXPECT_FALSE(isUpright());
// given // given
memset(rMat, 0.0, sizeof(float) * 9); memset(rMat, 0.0, sizeof(float) * 9);
@ -196,7 +200,7 @@ TEST(FlightImuTest, TestSmallAngle)
imuComputeRotationMatrix(); imuComputeRotationMatrix();
// expect // expect
EXPECT_EQ(false, isUpright()); EXPECT_FALSE(isUpright());
} }
// STUBS // STUBS

2
src/test/unit/ledstrip_unittest.cc
View file

@ -166,7 +166,7 @@ TEST(LedStripTest, parseLedStripConfig)
// when // when
for (uint8_t index = 0; index < (sizeof(ledStripConfigCommands) / sizeof(ledStripConfigCommands[0])); index++) { for (uint8_t index = 0; index < (sizeof(ledStripConfigCommands) / sizeof(ledStripConfigCommands[0])); index++) {
EXPECT_EQ(true, parseLedStripConfig(index, ledStripConfigCommands[index])); EXPECT_TRUE(parseLedStripConfig(index, ledStripConfigCommands[index]));
} }
// then // then

30
src/test/unit/rc_controls_unittest.cc
View file

@ -95,7 +95,7 @@ TEST_F(RcControlsModesTest, updateActivatedModesWithAllInputsAtMidde)
#ifdef DEBUG_RC_CONTROLS #ifdef DEBUG_RC_CONTROLS
printf("iteration: %d\n", index); printf("iteration: %d\n", index);
#endif #endif
EXPECT_EQ(false, IS_RC_MODE_ACTIVE((boxId_e)index)); EXPECT_FALSE(IS_RC_MODE_ACTIVE((boxId_e)index));
} }
} }
@ -351,7 +351,7 @@ TEST_F(RcControlsAdjustmentsTest, processRcAdjustmentsSticksInMiddle)
EXPECT_EQ(90, controlRateConfig.rcRates[FD_ROLL]); EXPECT_EQ(90, controlRateConfig.rcRates[FD_ROLL]);
EXPECT_EQ(90, controlRateConfig.rcRates[FD_PITCH]); EXPECT_EQ(90, controlRateConfig.rcRates[FD_PITCH]);
EXPECT_EQ(0, CALL_COUNTER(COUNTER_QUEUE_CONFIRMATION_BEEP)); EXPECT_EQ(0, CALL_COUNTER(COUNTER_QUEUE_CONFIRMATION_BEEP));
EXPECT_EQ(true, adjustmentState->ready); EXPECT_TRUE(adjustmentState->ready);
} }
TEST_F(RcControlsAdjustmentsTest, processRcAdjustmentsWithRcRateFunctionSwitchUp) TEST_F(RcControlsAdjustmentsTest, processRcAdjustmentsWithRcRateFunctionSwitchUp)
@ -401,7 +401,7 @@ TEST_F(RcControlsAdjustmentsTest, processRcAdjustmentsWithRcRateFunctionSwitchUp
EXPECT_EQ(91, controlRateConfig.rcRates[FD_ROLL]); EXPECT_EQ(91, controlRateConfig.rcRates[FD_ROLL]);
EXPECT_EQ(91, controlRateConfig.rcRates[FD_PITCH]); EXPECT_EQ(91, controlRateConfig.rcRates[FD_PITCH]);
EXPECT_EQ(1, CALL_COUNTER(COUNTER_QUEUE_CONFIRMATION_BEEP)); EXPECT_EQ(1, CALL_COUNTER(COUNTER_QUEUE_CONFIRMATION_BEEP));
EXPECT_EQ(false, adjustmentState->ready); EXPECT_FALSE(adjustmentState->ready);
// //
// now pretend a short amount of time has passed, but not enough time to allow the value to have been increased // now pretend a short amount of time has passed, but not enough time to allow the value to have been increased
@ -415,7 +415,7 @@ TEST_F(RcControlsAdjustmentsTest, processRcAdjustmentsWithRcRateFunctionSwitchUp
EXPECT_EQ(91, controlRateConfig.rcRates[FD_ROLL]); EXPECT_EQ(91, controlRateConfig.rcRates[FD_ROLL]);
EXPECT_EQ(91, controlRateConfig.rcRates[FD_PITCH]); EXPECT_EQ(91, controlRateConfig.rcRates[FD_PITCH]);
EXPECT_EQ(false, adjustmentState->ready); EXPECT_FALSE(adjustmentState->ready);
// //
@ -434,7 +434,7 @@ TEST_F(RcControlsAdjustmentsTest, processRcAdjustmentsWithRcRateFunctionSwitchUp
EXPECT_EQ(91, controlRateConfig.rcRates[FD_ROLL]); EXPECT_EQ(91, controlRateConfig.rcRates[FD_ROLL]);
EXPECT_EQ(91, controlRateConfig.rcRates[FD_PITCH]); EXPECT_EQ(91, controlRateConfig.rcRates[FD_PITCH]);
EXPECT_EQ(true, adjustmentState->ready); EXPECT_TRUE(adjustmentState->ready);
// //
@ -453,7 +453,7 @@ TEST_F(RcControlsAdjustmentsTest, processRcAdjustmentsWithRcRateFunctionSwitchUp
EXPECT_EQ(92, controlRateConfig.rcRates[FD_ROLL]); EXPECT_EQ(92, controlRateConfig.rcRates[FD_ROLL]);
EXPECT_EQ(92, controlRateConfig.rcRates[FD_PITCH]); EXPECT_EQ(92, controlRateConfig.rcRates[FD_PITCH]);
EXPECT_EQ(2, CALL_COUNTER(COUNTER_QUEUE_CONFIRMATION_BEEP)); EXPECT_EQ(2, CALL_COUNTER(COUNTER_QUEUE_CONFIRMATION_BEEP));
EXPECT_EQ(false, adjustmentState->ready); EXPECT_FALSE(adjustmentState->ready);
// //
// leaving the switch up, after the original timer would have reset the state should now NOT cause // leaving the switch up, after the original timer would have reset the state should now NOT cause
@ -469,7 +469,7 @@ TEST_F(RcControlsAdjustmentsTest, processRcAdjustmentsWithRcRateFunctionSwitchUp
// then // then
EXPECT_EQ(92, controlRateConfig.rcRates[FD_ROLL]); EXPECT_EQ(92, controlRateConfig.rcRates[FD_ROLL]);
EXPECT_EQ(92, controlRateConfig.rcRates[FD_PITCH]); EXPECT_EQ(92, controlRateConfig.rcRates[FD_PITCH]);
EXPECT_EQ(false, adjustmentState->ready); EXPECT_FALSE(adjustmentState->ready);
// //
// should still not be able to be increased // should still not be able to be increased
@ -484,7 +484,7 @@ TEST_F(RcControlsAdjustmentsTest, processRcAdjustmentsWithRcRateFunctionSwitchUp
// then // then
EXPECT_EQ(92, controlRateConfig.rcRates[FD_ROLL]); EXPECT_EQ(92, controlRateConfig.rcRates[FD_ROLL]);
EXPECT_EQ(92, controlRateConfig.rcRates[FD_PITCH]); EXPECT_EQ(92, controlRateConfig.rcRates[FD_PITCH]);
EXPECT_EQ(false, adjustmentState->ready); EXPECT_FALSE(adjustmentState->ready);
// //
// 500ms has now passed since the switch was returned to the middle, now that // 500ms has now passed since the switch was returned to the middle, now that
@ -502,7 +502,7 @@ TEST_F(RcControlsAdjustmentsTest, processRcAdjustmentsWithRcRateFunctionSwitchUp
EXPECT_EQ(93, controlRateConfig.rcRates[FD_ROLL]); EXPECT_EQ(93, controlRateConfig.rcRates[FD_ROLL]);
EXPECT_EQ(93, controlRateConfig.rcRates[FD_PITCH]); EXPECT_EQ(93, controlRateConfig.rcRates[FD_PITCH]);
EXPECT_EQ(3, CALL_COUNTER(COUNTER_QUEUE_CONFIRMATION_BEEP)); EXPECT_EQ(3, CALL_COUNTER(COUNTER_QUEUE_CONFIRMATION_BEEP));
EXPECT_EQ(false, adjustmentState->ready); EXPECT_FALSE(adjustmentState->ready);
} }
#define ADJUSTMENT_RATE_PROFILE_INDEX 12 #define ADJUSTMENT_RATE_PROFILE_INDEX 12
@ -585,12 +585,12 @@ TEST_F(RcControlsAdjustmentsTest, processPIDIncreasePidController0)
// then // then
EXPECT_EQ(6, CALL_COUNTER(COUNTER_QUEUE_CONFIRMATION_BEEP)); EXPECT_EQ(6, CALL_COUNTER(COUNTER_QUEUE_CONFIRMATION_BEEP));
EXPECT_EQ(false, adjustmentState1->ready); EXPECT_FALSE(adjustmentState1->ready);
EXPECT_EQ(false, adjustmentState2->ready); EXPECT_FALSE(adjustmentState2->ready);
EXPECT_EQ(false, adjustmentState3->ready); EXPECT_FALSE(adjustmentState3->ready);
EXPECT_EQ(false, adjustmentState4->ready); EXPECT_FALSE(adjustmentState4->ready);
EXPECT_EQ(false, adjustmentState5->ready); EXPECT_FALSE(adjustmentState5->ready);
EXPECT_EQ(false, adjustmentState6->ready); EXPECT_FALSE(adjustmentState6->ready);
// and // and
EXPECT_EQ(1, pidProfile.pid[PID_PITCH].P); EXPECT_EQ(1, pidProfile.pid[PID_PITCH].P);

100
src/test/unit/rcdevice_unittest.cc
View file

@ -146,7 +146,7 @@ TEST(RCDeviceTest, TestRCSplitInitWithoutPortConfigurated)
waitingResponseQueue.itemCount = 0; waitingResponseQueue.itemCount = 0;
memset(&testData, 0, sizeof(testData)); memset(&testData, 0, sizeof(testData));
runcamDeviceInit(&device); runcamDeviceInit(&device);
EXPECT_EQ(false, device.isReady); EXPECT_FALSE(device.isReady);
} }
TEST(RCDeviceTest, TestRCSplitInitWithoutOpenPortConfigurated) TEST(RCDeviceTest, TestRCSplitInitWithoutOpenPortConfigurated)
@ -163,7 +163,7 @@ TEST(RCDeviceTest, TestRCSplitInitWithoutOpenPortConfigurated)
testData.isRunCamSplitPortConfigurated = true; testData.isRunCamSplitPortConfigurated = true;
runcamDeviceInit(&device); runcamDeviceInit(&device);
EXPECT_EQ(false, device.isReady); EXPECT_FALSE(device.isReady);
} }
TEST(RCDeviceTest, TestInitDevice) TEST(RCDeviceTest, TestInitDevice)
@ -194,7 +194,7 @@ TEST(RCDeviceTest, TestInitDevice)
rcdeviceReceive(millis() * 1000); rcdeviceReceive(millis() * 1000);
rcdeviceReceive(millis() * 1000); rcdeviceReceive(millis() * 1000);
testData.millis += minTimeout; testData.millis += minTimeout;
EXPECT_EQ(device.isReady, true); EXPECT_TRUE(device.isReady);
} }
TEST(RCDeviceTest, TestInitDeviceWithInvalidResponse) TEST(RCDeviceTest, TestInitDeviceWithInvalidResponse)
@ -221,7 +221,7 @@ TEST(RCDeviceTest, TestInitDeviceWithInvalidResponse)
testData.responseDataReadPos = 0; testData.responseDataReadPos = 0;
testData.indexOfCurrentRespBuf = 0; testData.indexOfCurrentRespBuf = 0;
rcdeviceReceive(millis() * 1000); rcdeviceReceive(millis() * 1000);
EXPECT_EQ(device.isReady, true); EXPECT_TRUE(device.isReady);
clearResponseBuff(); clearResponseBuff();
testData.millis += minTimeout; testData.millis += minTimeout;
@ -235,7 +235,7 @@ TEST(RCDeviceTest, TestInitDeviceWithInvalidResponse)
testData.responseDataReadPos = 0; testData.responseDataReadPos = 0;
testData.indexOfCurrentRespBuf = 0; testData.indexOfCurrentRespBuf = 0;
rcdeviceReceive(millis() * 1000); rcdeviceReceive(millis() * 1000);
EXPECT_EQ(device.isReady, false); EXPECT_FALSE(device.isReady);
clearResponseBuff(); clearResponseBuff();
testData.millis += minTimeout; testData.millis += minTimeout;
@ -250,7 +250,7 @@ TEST(RCDeviceTest, TestInitDeviceWithInvalidResponse)
testData.indexOfCurrentRespBuf = 0; testData.indexOfCurrentRespBuf = 0;
rcdeviceReceive(millis() * 1000); rcdeviceReceive(millis() * 1000);
testData.millis += minTimeout; testData.millis += minTimeout;
EXPECT_EQ(device.isReady, false); EXPECT_FALSE(device.isReady);
clearResponseBuff(); clearResponseBuff();
testData.millis += minTimeout; testData.millis += minTimeout;
@ -266,7 +266,7 @@ TEST(RCDeviceTest, TestInitDeviceWithInvalidResponse)
testData.responseDataReadPos = 0; testData.responseDataReadPos = 0;
testData.indexOfCurrentRespBuf = 0; testData.indexOfCurrentRespBuf = 0;
rcdeviceReceive(millis() * 1000); rcdeviceReceive(millis() * 1000);
EXPECT_EQ(device.isReady, false); EXPECT_FALSE(device.isReady);
clearResponseBuff(); clearResponseBuff();
testData.millis += minTimeout; testData.millis += minTimeout;
} }
@ -294,7 +294,7 @@ TEST(RCDeviceTest, TestWifiModeChangeWithDeviceUnready)
testData.indexOfCurrentRespBuf = 0; testData.indexOfCurrentRespBuf = 0;
rcdeviceReceive(millis() * 1000); rcdeviceReceive(millis() * 1000);
testData.millis += minTimeout; testData.millis += minTimeout;
EXPECT_EQ(camDevice->isReady, false); EXPECT_FALSE(camDevice->isReady);
// bind aux1, aux2, aux3 channel to wifi button, power button and change mode // bind aux1, aux2, aux3 channel to wifi button, power button and change mode
for (uint8_t i = 0; i <= (BOXCAMERA3 - BOXCAMERA1); i++) { for (uint8_t i = 0; i <= (BOXCAMERA3 - BOXCAMERA1); i++) {
@ -337,9 +337,9 @@ TEST(RCDeviceTest, TestWifiModeChangeWithDeviceUnready)
rcdeviceReceive(millis()); rcdeviceReceive(millis());
} }
EXPECT_EQ(false, unitTestIsSwitchActivited(BOXCAMERA1)); EXPECT_FALSE(unitTestIsSwitchActivited(BOXCAMERA1));
EXPECT_EQ(false, unitTestIsSwitchActivited(BOXCAMERA2)); EXPECT_FALSE(unitTestIsSwitchActivited(BOXCAMERA2));
EXPECT_EQ(false, unitTestIsSwitchActivited(BOXCAMERA3)); EXPECT_FALSE(unitTestIsSwitchActivited(BOXCAMERA3));
} }
TEST(RCDeviceTest, TestWifiModeChangeWithDeviceReady) TEST(RCDeviceTest, TestWifiModeChangeWithDeviceReady)
@ -366,7 +366,7 @@ TEST(RCDeviceTest, TestWifiModeChangeWithDeviceReady)
rcdeviceReceive(millis() * 1000); rcdeviceReceive(millis() * 1000);
testData.millis += minTimeout; testData.millis += minTimeout;
EXPECT_EQ(camDevice->isReady, true); EXPECT_TRUE(camDevice->isReady);
// bind aux1, aux2, aux3 channel to wifi button, power button and change mode // bind aux1, aux2, aux3 channel to wifi button, power button and change mode
for (uint8_t i = 0; i <= BOXCAMERA3 - BOXCAMERA1; i++) { for (uint8_t i = 0; i <= BOXCAMERA3 - BOXCAMERA1; i++) {
@ -405,9 +405,9 @@ TEST(RCDeviceTest, TestWifiModeChangeWithDeviceReady)
testData.maxTimesOfRespDataAvailable = randNum; testData.maxTimesOfRespDataAvailable = randNum;
rcdeviceUpdate((timeUs_t)0); rcdeviceUpdate((timeUs_t)0);
EXPECT_EQ(false, unitTestIsSwitchActivited(BOXCAMERA1)); EXPECT_FALSE(unitTestIsSwitchActivited(BOXCAMERA1));
EXPECT_EQ(true, unitTestIsSwitchActivited(BOXCAMERA2)); EXPECT_TRUE(unitTestIsSwitchActivited(BOXCAMERA2));
EXPECT_EQ(false, unitTestIsSwitchActivited(BOXCAMERA3)); EXPECT_FALSE(unitTestIsSwitchActivited(BOXCAMERA3));
// remove all request from queue // remove all request from queue
for (int i = 0; i < 10; i++) { for (int i = 0; i < 10; i++) {
@ -435,7 +435,7 @@ TEST(RCDeviceTest, TestWifiModeChangeCombine)
testData.indexOfCurrentRespBuf = 0; testData.indexOfCurrentRespBuf = 0;
rcdeviceReceive(millis() * 1000); rcdeviceReceive(millis() * 1000);
testData.millis += minTimeout; testData.millis += minTimeout;
EXPECT_EQ(true, camDevice->isReady); EXPECT_TRUE(camDevice->isReady);
// bind aux1, aux2, aux3 channel to wifi button, power button and change mode // bind aux1, aux2, aux3 channel to wifi button, power button and change mode
for (uint8_t i = 0; i <= BOXCAMERA3 - BOXCAMERA1; i++) { for (uint8_t i = 0; i <= BOXCAMERA3 - BOXCAMERA1; i++) {
@ -474,9 +474,9 @@ TEST(RCDeviceTest, TestWifiModeChangeCombine)
testData.maxTimesOfRespDataAvailable = randNum; testData.maxTimesOfRespDataAvailable = randNum;
rcdeviceUpdate((timeUs_t)0); rcdeviceUpdate((timeUs_t)0);
EXPECT_EQ(false, unitTestIsSwitchActivited(BOXCAMERA1)); EXPECT_FALSE(unitTestIsSwitchActivited(BOXCAMERA1));
EXPECT_EQ(true, unitTestIsSwitchActivited(BOXCAMERA2)); EXPECT_TRUE(unitTestIsSwitchActivited(BOXCAMERA2));
EXPECT_EQ(false, unitTestIsSwitchActivited(BOXCAMERA3)); EXPECT_FALSE(unitTestIsSwitchActivited(BOXCAMERA3));
// // make the binded mode inactive // // make the binded mode inactive
@ -485,22 +485,22 @@ TEST(RCDeviceTest, TestWifiModeChangeCombine)
rcData[modeActivationConditions(2)->auxChannelIndex + NON_AUX_CHANNEL_COUNT] = 1900; rcData[modeActivationConditions(2)->auxChannelIndex + NON_AUX_CHANNEL_COUNT] = 1900;
updateActivatedModes(); updateActivatedModes();
rcdeviceUpdate((timeUs_t)0); rcdeviceUpdate((timeUs_t)0);
EXPECT_EQ(true, unitTestIsSwitchActivited(BOXCAMERA1)); EXPECT_TRUE(unitTestIsSwitchActivited(BOXCAMERA1));
EXPECT_EQ(false, unitTestIsSwitchActivited(BOXCAMERA2)); EXPECT_FALSE(unitTestIsSwitchActivited(BOXCAMERA2));
EXPECT_EQ(true, unitTestIsSwitchActivited(BOXCAMERA3)); EXPECT_TRUE(unitTestIsSwitchActivited(BOXCAMERA3));
rcData[modeActivationConditions(2)->auxChannelIndex + NON_AUX_CHANNEL_COUNT] = 1899; rcData[modeActivationConditions(2)->auxChannelIndex + NON_AUX_CHANNEL_COUNT] = 1899;
updateActivatedModes(); updateActivatedModes();
rcdeviceUpdate((timeUs_t)0); rcdeviceUpdate((timeUs_t)0);
EXPECT_EQ(false, unitTestIsSwitchActivited(BOXCAMERA3)); EXPECT_FALSE(unitTestIsSwitchActivited(BOXCAMERA3));
rcData[modeActivationConditions(1)->auxChannelIndex + NON_AUX_CHANNEL_COUNT] = 2001; rcData[modeActivationConditions(1)->auxChannelIndex + NON_AUX_CHANNEL_COUNT] = 2001;
updateActivatedModes(); updateActivatedModes();
rcdeviceUpdate((timeUs_t)0); rcdeviceUpdate((timeUs_t)0);
EXPECT_EQ(true, unitTestIsSwitchActivited(BOXCAMERA1)); EXPECT_TRUE(unitTestIsSwitchActivited(BOXCAMERA1));
EXPECT_EQ(true, unitTestIsSwitchActivited(BOXCAMERA2)); EXPECT_TRUE(unitTestIsSwitchActivited(BOXCAMERA2));
EXPECT_EQ(false, unitTestIsSwitchActivited(BOXCAMERA3)); EXPECT_FALSE(unitTestIsSwitchActivited(BOXCAMERA3));
// remove all request from queue // remove all request from queue
for (int i = 0; i < 10; i++) { for (int i = 0; i < 10; i++) {
@ -528,7 +528,7 @@ TEST(RCDeviceTest, Test5KeyOSDCableSimulationProtocol)
testData.indexOfCurrentRespBuf = 0; testData.indexOfCurrentRespBuf = 0;
rcdeviceReceive(millis() * 1000); rcdeviceReceive(millis() * 1000);
testData.millis += minTimeout; testData.millis += minTimeout;
EXPECT_EQ(true, camDevice->isReady); EXPECT_TRUE(camDevice->isReady);
clearResponseBuff(); clearResponseBuff();
// test timeout of open connection // test timeout of open connection
@ -537,7 +537,7 @@ TEST(RCDeviceTest, Test5KeyOSDCableSimulationProtocol)
testData.millis += 3000; testData.millis += 3000;
rcdeviceReceive(millis() * 1000); rcdeviceReceive(millis() * 1000);
testData.millis += minTimeout; testData.millis += minTimeout;
EXPECT_EQ(false, rcdeviceInMenu); EXPECT_FALSE(rcdeviceInMenu);
clearResponseBuff(); clearResponseBuff();
// open connection with correct response // open connection with correct response
@ -546,7 +546,7 @@ TEST(RCDeviceTest, Test5KeyOSDCableSimulationProtocol)
rcdeviceSend5KeyOSDCableSimualtionEvent(RCDEVICE_CAM_KEY_CONNECTION_OPEN); rcdeviceSend5KeyOSDCableSimualtionEvent(RCDEVICE_CAM_KEY_CONNECTION_OPEN);
rcdeviceReceive(millis() * 1000); rcdeviceReceive(millis() * 1000);
testData.millis += minTimeout; testData.millis += minTimeout;
EXPECT_EQ(true, rcdeviceInMenu); EXPECT_TRUE(rcdeviceInMenu);
clearResponseBuff(); clearResponseBuff();
// open connection with correct response but wrong data length // open connection with correct response but wrong data length
@ -555,7 +555,7 @@ TEST(RCDeviceTest, Test5KeyOSDCableSimulationProtocol)
rcdeviceSend5KeyOSDCableSimualtionEvent(RCDEVICE_CAM_KEY_CONNECTION_OPEN); rcdeviceSend5KeyOSDCableSimualtionEvent(RCDEVICE_CAM_KEY_CONNECTION_OPEN);
rcdeviceReceive(millis() * 1000); rcdeviceReceive(millis() * 1000);
testData.millis += minTimeout; testData.millis += minTimeout;
EXPECT_EQ(true, rcdeviceInMenu); EXPECT_TRUE(rcdeviceInMenu);
clearResponseBuff(); clearResponseBuff();
// open connection with invalid crc // open connection with invalid crc
@ -564,7 +564,7 @@ TEST(RCDeviceTest, Test5KeyOSDCableSimulationProtocol)
rcdeviceSend5KeyOSDCableSimualtionEvent(RCDEVICE_CAM_KEY_CONNECTION_OPEN); rcdeviceSend5KeyOSDCableSimualtionEvent(RCDEVICE_CAM_KEY_CONNECTION_OPEN);
rcdeviceReceive(millis() * 1000); rcdeviceReceive(millis() * 1000);
testData.millis += minTimeout; testData.millis += minTimeout;
EXPECT_EQ(true, rcdeviceInMenu); // when crc wrong won't change the menu state EXPECT_TRUE(rcdeviceInMenu); // when crc wrong won't change the menu state
clearResponseBuff(); clearResponseBuff();
// test timeout of close connection // test timeout of close connection
@ -573,7 +573,7 @@ TEST(RCDeviceTest, Test5KeyOSDCableSimulationProtocol)
testData.millis += 3000; testData.millis += 3000;
rcdeviceReceive(millis() * 1000); rcdeviceReceive(millis() * 1000);
testData.millis += minTimeout; testData.millis += minTimeout;
EXPECT_EQ(true, rcdeviceInMenu); // close menu timeout won't change the menu state EXPECT_TRUE(rcdeviceInMenu); // close menu timeout won't change the menu state
clearResponseBuff(); clearResponseBuff();
// close connection with correct response // close connection with correct response
@ -582,7 +582,7 @@ TEST(RCDeviceTest, Test5KeyOSDCableSimulationProtocol)
rcdeviceSend5KeyOSDCableSimualtionEvent(RCDEVICE_CAM_KEY_CONNECTION_CLOSE); rcdeviceSend5KeyOSDCableSimualtionEvent(RCDEVICE_CAM_KEY_CONNECTION_CLOSE);
rcdeviceReceive(millis() * 1000); rcdeviceReceive(millis() * 1000);
testData.millis += minTimeout; testData.millis += minTimeout;
EXPECT_EQ(false, rcdeviceInMenu); EXPECT_FALSE(rcdeviceInMenu);
clearResponseBuff(); clearResponseBuff();
// close connection with correct response but wrong data length // close connection with correct response but wrong data length
@ -590,7 +590,7 @@ TEST(RCDeviceTest, Test5KeyOSDCableSimulationProtocol)
rcdeviceSend5KeyOSDCableSimualtionEvent(RCDEVICE_CAM_KEY_CONNECTION_OPEN); // open menu again rcdeviceSend5KeyOSDCableSimualtionEvent(RCDEVICE_CAM_KEY_CONNECTION_OPEN); // open menu again
rcdeviceReceive(millis() * 1000); rcdeviceReceive(millis() * 1000);
testData.millis += minTimeout; testData.millis += minTimeout;
EXPECT_EQ(true, rcdeviceInMenu); EXPECT_TRUE(rcdeviceInMenu);
clearResponseBuff(); clearResponseBuff();
uint8_t responseDataOfCloseConnection1[] = { 0xCC, 0x21, 0x11, 0xC1 }; uint8_t responseDataOfCloseConnection1[] = { 0xCC, 0x21, 0x11, 0xC1 };
@ -598,7 +598,7 @@ TEST(RCDeviceTest, Test5KeyOSDCableSimulationProtocol)
rcdeviceSend5KeyOSDCableSimualtionEvent(RCDEVICE_CAM_KEY_CONNECTION_CLOSE); rcdeviceSend5KeyOSDCableSimualtionEvent(RCDEVICE_CAM_KEY_CONNECTION_CLOSE);
rcdeviceReceive(millis() * 1000); rcdeviceReceive(millis() * 1000);
testData.millis += minTimeout; testData.millis += minTimeout;
EXPECT_EQ(false, rcdeviceInMenu); EXPECT_FALSE(rcdeviceInMenu);
clearResponseBuff(); clearResponseBuff();
// close connection with response that invalid crc // close connection with response that invalid crc
@ -606,7 +606,7 @@ TEST(RCDeviceTest, Test5KeyOSDCableSimulationProtocol)
rcdeviceSend5KeyOSDCableSimualtionEvent(RCDEVICE_CAM_KEY_CONNECTION_OPEN); // open menu again rcdeviceSend5KeyOSDCableSimualtionEvent(RCDEVICE_CAM_KEY_CONNECTION_OPEN); // open menu again
rcdeviceReceive(millis() * 1000); rcdeviceReceive(millis() * 1000);
testData.millis += minTimeout; testData.millis += minTimeout;
EXPECT_EQ(true, rcdeviceInMenu); EXPECT_TRUE(rcdeviceInMenu);
clearResponseBuff(); clearResponseBuff();
uint8_t responseDataOfCloseConnection2[] = { 0xCC, 0x21, 0xA1 }; uint8_t responseDataOfCloseConnection2[] = { 0xCC, 0x21, 0xA1 };
@ -614,7 +614,7 @@ TEST(RCDeviceTest, Test5KeyOSDCableSimulationProtocol)
rcdeviceSend5KeyOSDCableSimualtionEvent(RCDEVICE_CAM_KEY_CONNECTION_CLOSE); rcdeviceSend5KeyOSDCableSimualtionEvent(RCDEVICE_CAM_KEY_CONNECTION_CLOSE);
rcdeviceReceive(millis() * 1000); rcdeviceReceive(millis() * 1000);
testData.millis += minTimeout; testData.millis += minTimeout;
EXPECT_EQ(true, rcdeviceInMenu); EXPECT_TRUE(rcdeviceInMenu);
clearResponseBuff(); clearResponseBuff();
// release button first // release button first
@ -623,7 +623,7 @@ TEST(RCDeviceTest, Test5KeyOSDCableSimulationProtocol)
rcdeviceSend5KeyOSDCableSimualtionEvent(RCDEVICE_CAM_KEY_RELEASE); rcdeviceSend5KeyOSDCableSimualtionEvent(RCDEVICE_CAM_KEY_RELEASE);
rcdeviceReceive(millis() * 1000); rcdeviceReceive(millis() * 1000);
testData.millis += minTimeout; testData.millis += minTimeout;
EXPECT_EQ(false, isButtonPressed); EXPECT_FALSE(isButtonPressed);
clearResponseBuff(); clearResponseBuff();
// simulate press button with no response // simulate press button with no response
@ -631,7 +631,7 @@ TEST(RCDeviceTest, Test5KeyOSDCableSimulationProtocol)
testData.millis += 2000; testData.millis += 2000;
rcdeviceReceive(millis() * 1000); rcdeviceReceive(millis() * 1000);
testData.millis += minTimeout; testData.millis += minTimeout;
EXPECT_EQ(false, isButtonPressed); EXPECT_FALSE(isButtonPressed);
clearResponseBuff(); clearResponseBuff();
// simulate press button with correct response // simulate press button with correct response
@ -640,7 +640,7 @@ TEST(RCDeviceTest, Test5KeyOSDCableSimulationProtocol)
rcdeviceSend5KeyOSDCableSimualtionEvent(RCDEVICE_CAM_KEY_ENTER); rcdeviceSend5KeyOSDCableSimualtionEvent(RCDEVICE_CAM_KEY_ENTER);
rcdeviceReceive(millis() * 1000); rcdeviceReceive(millis() * 1000);
testData.millis += minTimeout; testData.millis += minTimeout;
EXPECT_EQ(true, isButtonPressed); EXPECT_TRUE(isButtonPressed);
clearResponseBuff(); clearResponseBuff();
// simulate press button with correct response but wrong data length // simulate press button with correct response but wrong data length
@ -648,7 +648,7 @@ TEST(RCDeviceTest, Test5KeyOSDCableSimulationProtocol)
rcdeviceSend5KeyOSDCableSimualtionEvent(RCDEVICE_CAM_KEY_RELEASE); rcdeviceSend5KeyOSDCableSimualtionEvent(RCDEVICE_CAM_KEY_RELEASE);
rcdeviceReceive(millis() * 1000); rcdeviceReceive(millis() * 1000);
testData.millis += minTimeout; testData.millis += minTimeout;
EXPECT_EQ(false, isButtonPressed); EXPECT_FALSE(isButtonPressed);
clearResponseBuff(); clearResponseBuff();
uint8_t responseDataOfSimulation2[] = { 0xCC, 0xA5, 0x22 }; uint8_t responseDataOfSimulation2[] = { 0xCC, 0xA5, 0x22 };
@ -656,7 +656,7 @@ TEST(RCDeviceTest, Test5KeyOSDCableSimulationProtocol)
rcdeviceSend5KeyOSDCableSimualtionEvent(RCDEVICE_CAM_KEY_ENTER); rcdeviceSend5KeyOSDCableSimualtionEvent(RCDEVICE_CAM_KEY_ENTER);
rcdeviceReceive(millis() * 1000); rcdeviceReceive(millis() * 1000);
testData.millis += minTimeout; testData.millis += minTimeout;
EXPECT_EQ(true, isButtonPressed); EXPECT_TRUE(isButtonPressed);
clearResponseBuff(); clearResponseBuff();
// simulate press button event with incorrect response // simulate press button event with incorrect response
@ -665,7 +665,7 @@ TEST(RCDeviceTest, Test5KeyOSDCableSimulationProtocol)
rcdeviceSend5KeyOSDCableSimualtionEvent(RCDEVICE_CAM_KEY_ENTER); rcdeviceSend5KeyOSDCableSimualtionEvent(RCDEVICE_CAM_KEY_ENTER);
rcdeviceReceive(millis() * 1000); rcdeviceReceive(millis() * 1000);
testData.millis += minTimeout; testData.millis += minTimeout;
EXPECT_EQ(true, isButtonPressed); EXPECT_TRUE(isButtonPressed);
clearResponseBuff(); clearResponseBuff();
// simulate release button with correct response // simulate release button with correct response
@ -673,7 +673,7 @@ TEST(RCDeviceTest, Test5KeyOSDCableSimulationProtocol)
rcdeviceSend5KeyOSDCableSimualtionEvent(RCDEVICE_CAM_KEY_RELEASE); rcdeviceSend5KeyOSDCableSimualtionEvent(RCDEVICE_CAM_KEY_RELEASE);
rcdeviceReceive(millis() * 1000); rcdeviceReceive(millis() * 1000);
testData.millis += minTimeout; testData.millis += minTimeout;
EXPECT_EQ(false, isButtonPressed); EXPECT_FALSE(isButtonPressed);
clearResponseBuff(); clearResponseBuff();
// simulate release button with correct response but wrong data length // simulate release button with correct response but wrong data length
@ -681,7 +681,7 @@ TEST(RCDeviceTest, Test5KeyOSDCableSimulationProtocol)
rcdeviceSend5KeyOSDCableSimualtionEvent(RCDEVICE_CAM_KEY_ENTER); rcdeviceSend5KeyOSDCableSimualtionEvent(RCDEVICE_CAM_KEY_ENTER);
rcdeviceReceive(millis() * 1000); rcdeviceReceive(millis() * 1000);
testData.millis += minTimeout; testData.millis += minTimeout;
EXPECT_EQ(true, isButtonPressed); EXPECT_TRUE(isButtonPressed);
clearResponseBuff(); clearResponseBuff();
uint8_t responseDataOfSimulation5[] = { 0xCC, 0xA5, 0xFF }; uint8_t responseDataOfSimulation5[] = { 0xCC, 0xA5, 0xFF };
@ -689,7 +689,7 @@ TEST(RCDeviceTest, Test5KeyOSDCableSimulationProtocol)
rcdeviceSend5KeyOSDCableSimualtionEvent(RCDEVICE_CAM_KEY_RELEASE); rcdeviceSend5KeyOSDCableSimualtionEvent(RCDEVICE_CAM_KEY_RELEASE);
rcdeviceReceive(millis() * 1000); rcdeviceReceive(millis() * 1000);
testData.millis += minTimeout; testData.millis += minTimeout;
EXPECT_EQ(false, isButtonPressed); EXPECT_FALSE(isButtonPressed);
clearResponseBuff(); clearResponseBuff();
// simulate release button with incorrect response // simulate release button with incorrect response
@ -698,7 +698,7 @@ TEST(RCDeviceTest, Test5KeyOSDCableSimulationProtocol)
rcdeviceSend5KeyOSDCableSimualtionEvent(RCDEVICE_CAM_KEY_RELEASE); rcdeviceSend5KeyOSDCableSimualtionEvent(RCDEVICE_CAM_KEY_RELEASE);
rcdeviceReceive(millis() * 1000); rcdeviceReceive(millis() * 1000);
testData.millis += minTimeout; testData.millis += minTimeout;
EXPECT_EQ(false, isButtonPressed); EXPECT_FALSE(isButtonPressed);
clearResponseBuff(); clearResponseBuff();
// remove all request from queue // remove all request from queue
@ -718,7 +718,7 @@ TEST(RCDeviceTest, Test5KeyOSDCableSimulationWithout5KeyFeatureSupport)
rcData[PITCH] = FIVE_KEY_JOYSTICK_MID; // PITCH Mid rcData[PITCH] = FIVE_KEY_JOYSTICK_MID; // PITCH Mid
rcData[YAW] = FIVE_KEY_JOYSTICK_MAX; // Yaw High rcData[YAW] = FIVE_KEY_JOYSTICK_MAX; // Yaw High
rcdeviceUpdate(millis() * 1000); rcdeviceUpdate(millis() * 1000);
EXPECT_EQ(false, rcdeviceInMenu); EXPECT_FALSE(rcdeviceInMenu);
// remove all request from queue // remove all request from queue
for (int i = 0; i < 10; i++) { for (int i = 0; i < 10; i++) {
testData.millis += 500000; testData.millis += 500000;
@ -742,14 +742,14 @@ TEST(RCDeviceTest, Test5KeyOSDCableSimulationWithout5KeyFeatureSupport)
addResponseData(responseData, sizeof(responseData), true); addResponseData(responseData, sizeof(responseData), true);
rcdeviceReceive(millis() * 1000); rcdeviceReceive(millis() * 1000);
testData.millis += 200; testData.millis += 200;
EXPECT_EQ(camDevice->isReady, true); EXPECT_TRUE(camDevice->isReady);
clearResponseBuff(); clearResponseBuff();
// open connection, rcdeviceInMenu will be false if the codes is right // open connection, rcdeviceInMenu will be false if the codes is right
uint8_t responseDataOfOpenConnection[] = { 0xCC, 0x11, 0xe7 }; uint8_t responseDataOfOpenConnection[] = { 0xCC, 0x11, 0xe7 };
addResponseData(responseDataOfOpenConnection, sizeof(responseDataOfOpenConnection), false); addResponseData(responseDataOfOpenConnection, sizeof(responseDataOfOpenConnection), false);
rcdeviceUpdate(millis() * 1000); rcdeviceUpdate(millis() * 1000);
EXPECT_EQ(false, rcdeviceInMenu); EXPECT_FALSE(rcdeviceInMenu);
clearResponseBuff(); clearResponseBuff();
// remove all request from queue // remove all request from queue

14
src/test/unit/rx_crsf_unittest.cc
View file

@ -131,7 +131,7 @@ TEST(CrossFireTest, TestCrsfFrameStatus)
const uint8_t status = crsfFrameStatus(); const uint8_t status = crsfFrameStatus();
EXPECT_EQ(RX_FRAME_COMPLETE, status); EXPECT_EQ(RX_FRAME_COMPLETE, status);
EXPECT_EQ(false, crsfFrameDone); EXPECT_FALSE(crsfFrameDone);
EXPECT_EQ(CRSF_ADDRESS_CRSF_RECEIVER, crsfFrame.frame.deviceAddress); EXPECT_EQ(CRSF_ADDRESS_CRSF_RECEIVER, crsfFrame.frame.deviceAddress);
EXPECT_EQ(CRSF_FRAMETYPE_RC_CHANNELS_PACKED, crsfFrame.frame.type); EXPECT_EQ(CRSF_FRAMETYPE_RC_CHANNELS_PACKED, crsfFrame.frame.type);
@ -182,7 +182,7 @@ TEST(CrossFireTest, TestCrsfFrameStatusUnpacking)
memcpy(&crsfChannelDataFrame, &crsfFrame, sizeof(crsfFrame)); memcpy(&crsfChannelDataFrame, &crsfFrame, sizeof(crsfFrame));
const uint8_t status = crsfFrameStatus(); const uint8_t status = crsfFrameStatus();
EXPECT_EQ(RX_FRAME_COMPLETE, status); EXPECT_EQ(RX_FRAME_COMPLETE, status);
EXPECT_EQ(false, crsfFrameDone); EXPECT_FALSE(crsfFrameDone);
EXPECT_EQ(CRSF_ADDRESS_CRSF_RECEIVER, crsfFrame.frame.deviceAddress); EXPECT_EQ(CRSF_ADDRESS_CRSF_RECEIVER, crsfFrame.frame.deviceAddress);
EXPECT_EQ(CRSF_FRAME_RC_CHANNELS_PAYLOAD_SIZE + CRSF_FRAME_LENGTH_TYPE_CRC, crsfFrame.frame.frameLength); EXPECT_EQ(CRSF_FRAME_RC_CHANNELS_PAYLOAD_SIZE + CRSF_FRAME_LENGTH_TYPE_CRC, crsfFrame.frame.frameLength);
@ -227,9 +227,9 @@ TEST(CrossFireTest, TestCapturedData)
memcpy(&crsfChannelDataFrame, &crsfFrame, sizeof(crsfFrame)); memcpy(&crsfChannelDataFrame, &crsfFrame, sizeof(crsfFrame));
uint8_t status = crsfFrameStatus(); uint8_t status = crsfFrameStatus();
EXPECT_EQ(RX_FRAME_COMPLETE, status); EXPECT_EQ(RX_FRAME_COMPLETE, status);
EXPECT_EQ(false, crsfFrameDone); EXPECT_FALSE(crsfFrameDone);
EXPECT_EQ(RX_FRAME_COMPLETE, status); EXPECT_EQ(RX_FRAME_COMPLETE, status);
EXPECT_EQ(false, crsfFrameDone); EXPECT_FALSE(crsfFrameDone);
EXPECT_EQ(CRSF_ADDRESS_BROADCAST, crsfFrame.frame.deviceAddress); EXPECT_EQ(CRSF_ADDRESS_BROADCAST, crsfFrame.frame.deviceAddress);
EXPECT_EQ(CRSF_FRAME_RC_CHANNELS_PAYLOAD_SIZE + CRSF_FRAME_LENGTH_TYPE_CRC, crsfFrame.frame.frameLength); EXPECT_EQ(CRSF_FRAME_RC_CHANNELS_PAYLOAD_SIZE + CRSF_FRAME_LENGTH_TYPE_CRC, crsfFrame.frame.frameLength);
EXPECT_EQ(CRSF_FRAMETYPE_RC_CHANNELS_PACKED, crsfFrame.frame.type); EXPECT_EQ(CRSF_FRAMETYPE_RC_CHANNELS_PACKED, crsfFrame.frame.type);
@ -250,9 +250,9 @@ TEST(CrossFireTest, TestCapturedData)
memcpy(&crsfChannelDataFrame, &crsfFrame, sizeof(crsfFrame)); memcpy(&crsfChannelDataFrame, &crsfFrame, sizeof(crsfFrame));
status = crsfFrameStatus(); status = crsfFrameStatus();
EXPECT_EQ(RX_FRAME_COMPLETE, status); EXPECT_EQ(RX_FRAME_COMPLETE, status);
EXPECT_EQ(false, crsfFrameDone); EXPECT_FALSE(crsfFrameDone);
EXPECT_EQ(RX_FRAME_COMPLETE, status); EXPECT_EQ(RX_FRAME_COMPLETE, status);
EXPECT_EQ(false, crsfFrameDone); EXPECT_FALSE(crsfFrameDone);
EXPECT_EQ(CRSF_ADDRESS_BROADCAST, crsfFrame.frame.deviceAddress); EXPECT_EQ(CRSF_ADDRESS_BROADCAST, crsfFrame.frame.deviceAddress);
EXPECT_EQ(CRSF_FRAME_RC_CHANNELS_PAYLOAD_SIZE + CRSF_FRAME_LENGTH_TYPE_CRC, crsfFrame.frame.frameLength); EXPECT_EQ(CRSF_FRAME_RC_CHANNELS_PAYLOAD_SIZE + CRSF_FRAME_LENGTH_TYPE_CRC, crsfFrame.frame.frameLength);
EXPECT_EQ(CRSF_FRAMETYPE_RC_CHANNELS_PACKED, crsfFrame.frame.type); EXPECT_EQ(CRSF_FRAMETYPE_RC_CHANNELS_PACKED, crsfFrame.frame.type);
@ -272,7 +272,7 @@ TEST(CrossFireTest, TestCrsfDataReceive)
for (unsigned int ii = 0; ii < sizeof(crsfRcChannelsFrame_t); ++ii) { for (unsigned int ii = 0; ii < sizeof(crsfRcChannelsFrame_t); ++ii) {
crsfDataReceive(*pData++); crsfDataReceive(*pData++);
} }
EXPECT_EQ(false, crsfFrameDone); // data is not a valid rc channels frame so don't expect crsfFrameDone to be true EXPECT_FALSE(crsfFrameDone); // data is not a valid rc channels frame so don't expect crsfFrameDone to be true
EXPECT_EQ(CRSF_ADDRESS_BROADCAST, crsfFrame.frame.deviceAddress); EXPECT_EQ(CRSF_ADDRESS_BROADCAST, crsfFrame.frame.deviceAddress);
EXPECT_EQ(CRSF_FRAME_RC_CHANNELS_PAYLOAD_SIZE + CRSF_FRAME_LENGTH_TYPE_CRC, crsfFrame.frame.frameLength); EXPECT_EQ(CRSF_FRAME_RC_CHANNELS_PAYLOAD_SIZE + CRSF_FRAME_LENGTH_TYPE_CRC, crsfFrame.frame.frameLength);
EXPECT_EQ(CRSF_FRAMETYPE_RC_CHANNELS_PACKED, crsfFrame.frame.type); EXPECT_EQ(CRSF_FRAMETYPE_RC_CHANNELS_PACKED, crsfFrame.frame.type);

6
src/test/unit/scheduler_unittest.cc
View file

@ -204,7 +204,7 @@ TEST(SchedulerUnittest, TestQueueAddAndRemove)
// fill up the queue // fill up the queue
for (int taskId = 0; taskId < TASK_COUNT; ++taskId) { for (int taskId = 0; taskId < TASK_COUNT; ++taskId) {
const bool added = queueAdd(&cfTasks[taskId]); const bool added = queueAdd(&cfTasks[taskId]);
EXPECT_EQ(true, added); EXPECT_TRUE(added);
EXPECT_EQ(taskId + 1, taskQueueSize); EXPECT_EQ(taskId + 1, taskQueueSize);
EXPECT_EQ(deadBeefPtr, taskQueueArray[TASK_COUNT + 1]); EXPECT_EQ(deadBeefPtr, taskQueueArray[TASK_COUNT + 1]);
} }
@ -218,7 +218,7 @@ TEST(SchedulerUnittest, TestQueueAddAndRemove)
// and empty it again // and empty it again
for (int taskId = 0; taskId < TASK_COUNT; ++taskId) { for (int taskId = 0; taskId < TASK_COUNT; ++taskId) {
const bool removed = queueRemove(&cfTasks[taskId]); const bool removed = queueRemove(&cfTasks[taskId]);
EXPECT_EQ(true, removed); EXPECT_TRUE(removed);
EXPECT_EQ(TASK_COUNT - taskId - 1, taskQueueSize); EXPECT_EQ(TASK_COUNT - taskId - 1, taskQueueSize);
EXPECT_EQ(NULL, taskQueueArray[TASK_COUNT - taskId]); EXPECT_EQ(NULL, taskQueueArray[TASK_COUNT - taskId]);
EXPECT_EQ(deadBeefPtr, taskQueueArray[TASK_COUNT + 1]); EXPECT_EQ(deadBeefPtr, taskQueueArray[TASK_COUNT + 1]);
@ -272,7 +272,7 @@ TEST(SchedulerUnittest, TestQueueArray)
cfTaskInfo_t taskInfo; cfTaskInfo_t taskInfo;
getTaskInfo(static_cast<cfTaskId_e>(enqueuedTasks + 1), &taskInfo); getTaskInfo(static_cast<cfTaskId_e>(enqueuedTasks + 1), &taskInfo);
EXPECT_EQ(false, taskInfo.isEnabled); EXPECT_FALSE(taskInfo.isEnabled);
setTaskEnabled(static_cast<cfTaskId_e>(enqueuedTasks), true); setTaskEnabled(static_cast<cfTaskId_e>(enqueuedTasks), true);
EXPECT_EQ(enqueuedTasks, taskQueueSize); EXPECT_EQ(enqueuedTasks, taskQueueSize);
EXPECT_EQ(lastTaskPrev, taskQueueArray[enqueuedTasks - 1]); EXPECT_EQ(lastTaskPrev, taskQueueArray[enqueuedTasks - 1]);

12
src/test/unit/sensor_gyro_unittest.cc
View file

@ -65,7 +65,7 @@ TEST(SensorGyro, Init)
{ {
pgResetAll(); pgResetAll();
const bool initialised = gyroInit(); const bool initialised = gyroInit();
EXPECT_EQ(true, initialised); EXPECT_TRUE(initialised);
EXPECT_EQ(GYRO_FAKE, detectedSensors[SENSOR_INDEX_GYRO]); EXPECT_EQ(GYRO_FAKE, detectedSensors[SENSOR_INDEX_GYRO]);
} }
@ -75,7 +75,7 @@ TEST(SensorGyro, Read)
gyroInit(); gyroInit();
fakeGyroSet(gyroDevPtr, 5, 6, 7); fakeGyroSet(gyroDevPtr, 5, 6, 7);
const bool read = gyroDevPtr->readFn(gyroDevPtr); const bool read = gyroDevPtr->readFn(gyroDevPtr);
EXPECT_EQ(true, read); EXPECT_TRUE(read);
EXPECT_EQ(5, gyroDevPtr->gyroADCRaw[X]); EXPECT_EQ(5, gyroDevPtr->gyroADCRaw[X]);
EXPECT_EQ(6, gyroDevPtr->gyroADCRaw[Y]); EXPECT_EQ(6, gyroDevPtr->gyroADCRaw[Y]);
EXPECT_EQ(7, gyroDevPtr->gyroADCRaw[Z]); EXPECT_EQ(7, gyroDevPtr->gyroADCRaw[Z]);
@ -87,7 +87,7 @@ TEST(SensorGyro, Calibrate)
gyroInit(); gyroInit();
fakeGyroSet(gyroDevPtr, 5, 6, 7); fakeGyroSet(gyroDevPtr, 5, 6, 7);
const bool read = gyroDevPtr->readFn(gyroDevPtr); const bool read = gyroDevPtr->readFn(gyroDevPtr);
EXPECT_EQ(true, read); EXPECT_TRUE(read);
EXPECT_EQ(5, gyroDevPtr->gyroADCRaw[X]); EXPECT_EQ(5, gyroDevPtr->gyroADCRaw[X]);
EXPECT_EQ(6, gyroDevPtr->gyroADCRaw[Y]); EXPECT_EQ(6, gyroDevPtr->gyroADCRaw[Y]);
EXPECT_EQ(7, gyroDevPtr->gyroADCRaw[Z]); EXPECT_EQ(7, gyroDevPtr->gyroADCRaw[Z]);
@ -100,7 +100,7 @@ TEST(SensorGyro, Calibrate)
EXPECT_EQ(9, gyroDevPtr->gyroZero[Y]); EXPECT_EQ(9, gyroDevPtr->gyroZero[Y]);
EXPECT_EQ(10, gyroDevPtr->gyroZero[Z]); EXPECT_EQ(10, gyroDevPtr->gyroZero[Z]);
gyroStartCalibration(false); gyroStartCalibration(false);
EXPECT_EQ(false, gyroIsCalibrationComplete()); EXPECT_FALSE(gyroIsCalibrationComplete());
while (!gyroIsCalibrationComplete()) { while (!gyroIsCalibrationComplete()) {
gyroDevPtr->readFn(gyroDevPtr); gyroDevPtr->readFn(gyroDevPtr);
performGyroCalibration(gyroSensorPtr, gyroMovementCalibrationThreshold); performGyroCalibration(gyroSensorPtr, gyroMovementCalibrationThreshold);
@ -121,7 +121,7 @@ TEST(SensorGyro, Update)
gyroInit(); gyroInit();
gyroDevPtr->readFn = fakeGyroRead; gyroDevPtr->readFn = fakeGyroRead;
gyroStartCalibration(false); gyroStartCalibration(false);
EXPECT_EQ(false, gyroIsCalibrationComplete()); EXPECT_FALSE(gyroIsCalibrationComplete());
timeUs_t currentTimeUs = 0; timeUs_t currentTimeUs = 0;
fakeGyroSet(gyroDevPtr, 5, 6, 7); fakeGyroSet(gyroDevPtr, 5, 6, 7);
@ -130,7 +130,7 @@ TEST(SensorGyro, Update)
fakeGyroSet(gyroDevPtr, 5, 6, 7); fakeGyroSet(gyroDevPtr, 5, 6, 7);
gyroUpdate(currentTimeUs); gyroUpdate(currentTimeUs);
} }
EXPECT_EQ(true, gyroIsCalibrationComplete()); EXPECT_TRUE(gyroIsCalibrationComplete());
EXPECT_EQ(5, gyroDevPtr->gyroZero[X]); EXPECT_EQ(5, gyroDevPtr->gyroZero[X]);
EXPECT_EQ(6, gyroDevPtr->gyroZero[Y]); EXPECT_EQ(6, gyroDevPtr->gyroZero[Y]);
EXPECT_EQ(7, gyroDevPtr->gyroZero[Z]); EXPECT_EQ(7, gyroDevPtr->gyroZero[Z]);