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De-duplicate mixer integration test code.

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This commit is contained in:
Dominic Clifton 2015-07-14 23:34:51 +01:00
parent cfe0d770ac
commit c5dbf16060
1 changed files with 31 additions and 61 deletions
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92
src/test/unit/flight_mixer_unittest.cc
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@ -161,26 +161,44 @@ protected:
.mode = GIMBAL_MODE_NORMAL .mode = GIMBAL_MODE_NORMAL
}; };
motorMixer_t customMixer[MAX_SUPPORTED_MOTORS]; motorMixer_t customMotorMixer[MAX_SUPPORTED_MOTORS];
servoMixer_t customServoMixer[MAX_SUPPORTED_SERVOS]; servoMixer_t customServoMixer[MAX_SUPPORTED_SERVOS];
virtual void SetUp() { virtual void SetUp() {
updatedServoCount = 0; updatedServoCount = 0;
updatedMotorCount = 0;
memset(&mixerConfig, 0, sizeof(mixerConfig)); memset(&mixerConfig, 0, sizeof(mixerConfig));
memset(&rxConfig, 0, sizeof(rxConfig)); memset(&rxConfig, 0, sizeof(rxConfig));
memset(&escAndServoConfig, 0, sizeof(escAndServoConfig)); memset(&escAndServoConfig, 0, sizeof(escAndServoConfig));
memset(&servoConf, 0, sizeof(servoConf)); memset(&servoConf, 0, sizeof(servoConf));
memset(rcData, 0, sizeof(rcData));
memset(rcCommand, 0, sizeof(rcCommand)); memset(rcCommand, 0, sizeof(rcCommand));
memset(axisPID, 0, sizeof(axisPID)); memset(axisPID, 0, sizeof(axisPID));
memset(&customMixer, 0, sizeof(customMixer)); memset(&customMotorMixer, 0, sizeof(customMotorMixer));
} }
virtual void withDefaultEscAndServoConfiguration(void) { virtual void withDefaultEscAndServoConfiguration(void) {
escAndServoConfig.mincommand = TEST_MIN_COMMAND; escAndServoConfig.mincommand = TEST_MIN_COMMAND;
} }
virtual void withDefaultRxConfig(void) {
rxConfig.midrc = 1500;
}
virtual void configureMixer(void) {
mixerUseConfigs(
servoConf,
&gimbalConfig,
NULL,
&escAndServoConfig,
&mixerConfig,
NULL,
&rxConfig
);
}
}; };
TEST_F(BasicMixerIntegrationTest, TestTricopterServo) TEST_F(BasicMixerIntegrationTest, TestTricopterServo)
@ -191,6 +209,7 @@ TEST_F(BasicMixerIntegrationTest, TestTricopterServo)
mixerConfig.tri_unarmed_servo = 1; mixerConfig.tri_unarmed_servo = 1;
withDefaultEscAndServoConfiguration(); withDefaultEscAndServoConfiguration();
withDefaultRxConfig();
servoConf[5].min = DEFAULT_SERVO_MIN; servoConf[5].min = DEFAULT_SERVO_MIN;
servoConf[5].max = DEFAULT_SERVO_MAX; servoConf[5].max = DEFAULT_SERVO_MAX;
@ -198,17 +217,9 @@ TEST_F(BasicMixerIntegrationTest, TestTricopterServo)
servoConf[5].rate = 100; servoConf[5].rate = 100;
servoConf[5].forwardFromChannel = CHANNEL_FORWARDING_DISABLED; servoConf[5].forwardFromChannel = CHANNEL_FORWARDING_DISABLED;
mixerUseConfigs( configureMixer();
servoConf,
&gimbalConfig,
NULL,
&escAndServoConfig,
&mixerConfig,
NULL,
&rxConfig
);
mixerInit(MIXER_TRI, customMixer, customServoMixer); mixerInit(MIXER_TRI, customMotorMixer, customServoMixer);
// and // and
pwmOutputConfiguration_t pwmOutputConfiguration = { pwmOutputConfiguration_t pwmOutputConfiguration = {
@ -233,21 +244,11 @@ TEST_F(BasicMixerIntegrationTest, TestTricopterServo)
TEST_F(BasicMixerIntegrationTest, TestQuadMotors) TEST_F(BasicMixerIntegrationTest, TestQuadMotors)
{ {
// given // given
updatedMotorCount = 0;
withDefaultEscAndServoConfiguration(); withDefaultEscAndServoConfiguration();
mixerUseConfigs( configureMixer();
servoConf,
&gimbalConfig,
NULL,
&escAndServoConfig,
&mixerConfig,
NULL,
&rxConfig
);
mixerInit(MIXER_QUADX, customMixer, customServoMixer); mixerInit(MIXER_QUADX, customMotorMixer, customServoMixer);
// and // and
pwmOutputConfiguration_t pwmOutputConfiguration = { pwmOutputConfiguration_t pwmOutputConfiguration = {
@ -279,30 +280,12 @@ TEST_F(BasicMixerIntegrationTest, TestQuadMotors)
} }
class CustomMixerTest : public ::testing::Test { class CustomMixerIntegrationTest : public BasicMixerIntegrationTest {
protected: protected:
// given
mixerConfig_t mixerConfig;
rxConfig_t rxConfig;
servoParam_t servoConf[MAX_SUPPORTED_SERVOS];
escAndServoConfig_t escAndServoConfig;
gimbalConfig_t gimbalConfig;
motorMixer_t customMotorMixer[MAX_SUPPORTED_MOTORS];
servoMixer_t customServoMixer[MAX_SUPPORTED_SERVOS];
virtual void SetUp() { virtual void SetUp() {
updatedServoCount = 0;
updatedMotorCount = 0;
memset(&rcData, 0, sizeof(rcData)); BasicMixerIntegrationTest::SetUp();
memset(&rcCommand, 0, sizeof(rcCommand));
memset(&mixerConfig, 0, sizeof(mixerConfig));
memset(&rxConfig, 0, sizeof(rxConfig));
rxConfig.midrc = 1500;
memset(&servoConf, 0, sizeof(servoConf)); memset(&servoConf, 0, sizeof(servoConf));
for (int i = 0; i < MAX_SUPPORTED_SERVOS; i++) { for (int i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
@ -313,30 +296,18 @@ protected:
servoConf[i].forwardFromChannel = CHANNEL_FORWARDING_DISABLED; servoConf[i].forwardFromChannel = CHANNEL_FORWARDING_DISABLED;
} }
memset(&escAndServoConfig, 0, sizeof(escAndServoConfig)); withDefaultEscAndServoConfiguration();
withDefaultRxConfig();
escAndServoConfig.mincommand = TEST_MIN_COMMAND; configureMixer();
gimbalConfig.mode = GIMBAL_MODE_NORMAL;
mixerUseConfigs(
servoConf,
&gimbalConfig,
NULL,
&escAndServoConfig,
&mixerConfig,
NULL,
&rxConfig
);
memset(&customMotorMixer, 0, sizeof(customMotorMixer)); memset(&customMotorMixer, 0, sizeof(customMotorMixer));
memset(&customServoMixer, 0, sizeof(customServoMixer)); memset(&customServoMixer, 0, sizeof(customServoMixer));
} }
}; };
TEST_F(CustomMixerTest, TestCustomMixer) TEST_F(CustomMixerIntegrationTest, TestCustomMixer)
{ {
// given // given
enum { enum {
@ -360,7 +331,6 @@ TEST_F(CustomMixerTest, TestCustomMixer)
}; };
memcpy(customMotorMixer, testMotorMixer, sizeof(testMotorMixer)); memcpy(customMotorMixer, testMotorMixer, sizeof(testMotorMixer));
mixerInit(MIXER_CUSTOM_AIRPLANE, customMotorMixer, customServoMixer); mixerInit(MIXER_CUSTOM_AIRPLANE, customMotorMixer, customServoMixer);
pwmOutputConfiguration_t pwmOutputConfiguration = { pwmOutputConfiguration_t pwmOutputConfiguration = {