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Stoppd using TASK_BEEPER in tests, since this is undefined.

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This commit is contained in:
Martin Budden 2016-02-05 15:11:43 +00:00 • committed by borisbstyle
parent d8776c8e47
commit 63db2d00f3
3 changed files with 21 additions and 37 deletions
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25
src/test/unit/scheduler_unittest.cc
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@ -94,6 +94,16 @@ TEST(SchedulerUnittest, TestPriorites)
EXPECT_EQ(TASK_PRIORITY_MEDIUM, cfTasks[TASK_BATTERY].staticPriority);
}
TEST(SchedulerUnittest, TestPriorites)
{
// if any of these fail then task priorities have changed and ordering in TestQueue needs to be re-checked
EXPECT_EQ(TASK_PRIORITY_HIGH, cfTasks[TASK_SYSTEM].staticPriority);
EXPECT_EQ(TASK_PRIORITY_REALTIME, cfTasks[TASK_GYROPID].staticPriority);
EXPECT_EQ(TASK_PRIORITY_MEDIUM, cfTasks[TASK_ACCEL].staticPriority);
EXPECT_EQ(TASK_PRIORITY_LOW, cfTasks[TASK_SERIAL].staticPriority);
EXPECT_EQ(TASK_PRIORITY_MEDIUM, cfTasks[TASK_BATTERY].staticPriority);
}
TEST(SchedulerUnittest, TestQueueInit)
{
queueClear();
@ -132,11 +142,11 @@ TEST(SchedulerUnittest, TestQueue)
EXPECT_EQ(NULL, queueNext());
EXPECT_EQ(deadBeefPtr, taskQueueArray[TASK_COUNT + 1]);
queueAdd(&cfTasks[TASK_BEEPER]); // TASK_PRIORITY_MEDIUM
queueAdd(&cfTasks[TASK_BATTERY]); // TASK_PRIORITY_MEDIUM
EXPECT_EQ(4, queueSize());
EXPECT_EQ(&cfTasks[TASK_GYROPID], queueFirst());
EXPECT_EQ(&cfTasks[TASK_SYSTEM], queueNext());
EXPECT_EQ(&cfTasks[TASK_BEEPER], queueNext());
EXPECT_EQ(&cfTasks[TASK_BATTERY], queueNext());
EXPECT_EQ(&cfTasks[TASK_SERIAL], queueNext());
EXPECT_EQ(NULL, queueNext());
EXPECT_EQ(deadBeefPtr, taskQueueArray[TASK_COUNT + 1]);
@ -146,7 +156,7 @@ TEST(SchedulerUnittest, TestQueue)
EXPECT_EQ(&cfTasks[TASK_GYROPID], queueFirst());
EXPECT_EQ(&cfTasks[TASK_SYSTEM], queueNext());
EXPECT_EQ(&cfTasks[TASK_RX], queueNext());
EXPECT_EQ(&cfTasks[TASK_BEEPER], queueNext());
EXPECT_EQ(&cfTasks[TASK_BATTERY], queueNext());
EXPECT_EQ(&cfTasks[TASK_SERIAL], queueNext());
EXPECT_EQ(NULL, queueNext());
EXPECT_EQ(deadBeefPtr, taskQueueArray[TASK_COUNT + 1]);
@ -155,19 +165,22 @@ TEST(SchedulerUnittest, TestQueue)
EXPECT_EQ(4, queueSize());
EXPECT_EQ(&cfTasks[TASK_GYROPID], queueFirst());
EXPECT_EQ(&cfTasks[TASK_RX], queueNext());
EXPECT_EQ(&cfTasks[TASK_BEEPER], queueNext());
EXPECT_EQ(&cfTasks[TASK_BATTERY], queueNext());
EXPECT_EQ(&cfTasks[TASK_SERIAL], queueNext());
EXPECT_EQ(NULL, queueNext());
EXPECT_EQ(deadBeefPtr, taskQueueArray[TASK_COUNT + 1]);
}
TEST(SchedulerUnittest, TestQueueArray)
{
// test there are no "out by one" errors or buffer overruns when items are added and removed
queueClear();
taskQueueArray[TASK_COUNT + 1] = deadBeefPtr;
taskQueueArray[TASK_COUNT + 1] = deadBeefPtr; // note, must set deadBeefPtr after queueClear
for (int taskId=0; taskId < TASK_COUNT - 1; ++taskId) {
for (int taskId = 0; taskId < TASK_COUNT - 1; ++taskId) {
setTaskEnabled(static_cast<cfTaskId_e>(taskId), true);
EXPECT_EQ(taskId + 1, queueSize());
EXPECT_EQ(deadBeefPtr, taskQueueArray[TASK_COUNT + 1]);
}
EXPECT_EQ(TASK_COUNT - 1, queueSize());
EXPECT_NE(static_cast<cfTask_t*>(0), taskQueueArray[TASK_COUNT - 2]);