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Cleanup project structure. Update unit test Makefile to place object

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files in obj/test
This commit is contained in:
Dominic Clifton 2014-05-31 22:43:06 +01:00
parent fb9e3a2358
commit d19a5e7046
330 changed files with 657 additions and 638 deletions
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119
test/flight_imu_unittest.cc
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@ -1,119 +0,0 @@
#include <stdint.h>
#include <stdbool.h>
#include <limits.h>
#define BARO
// FIXME this giant list of includes (below) and stubs (bottom) indicates there is too much going on in flight_imu.c and that it needs decoupling and breaking up.
#include "common/axis.h"
#include "flight_common.h"
#include "sensors_common.h"
#include "drivers/accgyro_common.h"
#include "sensors_gyro.h"
#include "sensors_compass.h"
#include "sensors_acceleration.h"
#include "sensors_barometer.h"
#include "gps_common.h"
#include "gimbal.h"
#include "flight_mixer.h"
// FIXME remove dependency on config.h
#include "boardalignment.h"
#include "battery.h"
#include "escservo.h"
#include "rc_controls.h"
#include "rx_common.h"
#include "drivers/serial_common.h"
#include "serial_common.h"
#include "telemetry_common.h"
#include "failsafe.h"
#include "runtime_config.h"
#include "config.h"
#include "config_profile.h"
#include "config_master.h"
#include "flight_imu.h"
#include "unittest_macros.h"
#include "gtest/gtest.h"
#define DOWNWARDS_THRUST true
#define UPWARDS_THRUST false
bool isThrustFacingDownwards(rollAndPitchInclination_t *inclinations);
typedef struct inclinationExpectation_s {
rollAndPitchInclination_t inclination;
bool expectDownwardsThrust;
} inclinationExpectation_t;
TEST(FlightImuTest, IsThrustFacingDownwards)
{
// given
inclinationExpectation_t inclinationExpectations[] = {
{ { 0, 0 }, DOWNWARDS_THRUST },
{ { 799, 799 }, DOWNWARDS_THRUST },
{ { 800, 799 }, UPWARDS_THRUST },
{ { 799, 800 }, UPWARDS_THRUST },
{ { 800, 800 }, UPWARDS_THRUST },
{ { 801, 801 }, UPWARDS_THRUST },
{ { -799, -799 }, DOWNWARDS_THRUST },
{ { -800, -799 }, UPWARDS_THRUST },
{ { -799, -800 }, UPWARDS_THRUST },
{ { -800, -800 }, UPWARDS_THRUST },
{ { -801, -801 }, UPWARDS_THRUST }
};
uint8_t testIterationCount = sizeof(inclinationExpectations) / sizeof(inclinationExpectation_t);
// expect
for (uint8_t index = 0; index < testIterationCount; index ++) {
inclinationExpectation_t *angleInclinationExpectation = &inclinationExpectations[index];
printf("iteration: %d\n", index);
bool result = isThrustFacingDownwards(&angleInclinationExpectation->inclination);
EXPECT_EQ(angleInclinationExpectation->expectDownwardsThrust, result);
}
}
// STUBS
uint16_t acc_1G;
profile_t currentProfile;
master_t masterConfig;
int16_t heading;
flags_t f;
gyro_t gyro;
int16_t magADC[XYZ_AXIS_COUNT];
int32_t BaroAlt;
void gyroGetADC(void) {};
bool sensors(uint32_t mask)
{
UNUSED(mask);
return false;
};
void updateAccelerationReadings(rollAndPitchTrims_t *rollAndPitchTrims)
{
UNUSED(rollAndPitchTrims);
}
uint32_t micros(void) { return 0; }
bool isBaroCalibrationComplete(void) { return true; }
void performBaroCalibrationCycle(void) {}
int32_t baroCalculateAltitude(void) { return 0; }
int constrain(int amt, int low, int high)
{
UNUSED(amt);
UNUSED(low);
UNUSED(high);
return 0;
}