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Add optional doctest test runner for unit testing

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2019-12-31 23:16:02 -05:00
parent 45573eb867
commit bb59c2640e
3 changed files with 45 additions and 30 deletions
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Firmware/Tests/test_runner.cpp
+37 -29
View File
@@ -9,17 +9,16 @@
#define DOCTEST_CONFIG_NO_POSIX_SIGNALS
// #define DOCTEST_CONFIG_VOID_CAST_EXPRESSIONS
#include <doctest.h>
using std::cout;
using std::endl;
struct can_Message_t {
uint32_t id = 0x000; // 11-bit max is 0x7ff, 29-bit max is 0x1FFFFFFF
bool isExt = false;
bool rtr = false;
uint8_t len = 8;
uint32_t id = 0x000; // 11-bit max is 0x7ff, 29-bit max is 0x1FFFFFFF
bool isExt = false;
bool rtr = false;
uint8_t len = 8;
uint8_t buf[8] = {0, 0, 0, 0, 0, 0, 0, 0};
};
@@ -44,7 +43,7 @@ enum InputMode_t {
template <typename T>
T can_getSignal(can_Message_t msg, const uint8_t startBit, const uint8_t length, const bool isIntel) {
uint64_t tempVal = 0;
uint64_t mask = (1ULL << length) - 1;
uint64_t mask = (1ULL << length) - 1;
if (isIntel) {
std::memcpy(&tempVal, msg.buf, sizeof(tempVal));
@@ -60,18 +59,17 @@ T can_getSignal(can_Message_t msg, const uint8_t startBit, const uint8_t length,
return retVal;
}
template<typename T>
template <typename T>
float can_getSignal(can_Message_t msg, const uint8_t startBit, const uint8_t length, const bool isIntel, const float factor, const float offset) {
T retVal = can_getSignal<T>(msg, startBit, length, isIntel);
return (retVal * factor) + offset;
}
template<typename T>
void can_setSignal(can_Message_t& msg, const T& val, const uint8_t startBit, const uint8_t length, const bool isIntel){
template <typename T>
void can_setSignal(can_Message_t& msg, const T& val, const uint8_t startBit, const uint8_t length, const bool isIntel) {
uint64_t mask = (1ULL << length) - 1;
uint64_t valAsBits = 0;
std::memcpy(&valAsBits, &val, sizeof(T));
if (isIntel) {
uint64_t data = 0;
@@ -96,7 +94,7 @@ void can_setSignal(can_Message_t& msg, const T& val, const uint8_t startBit, con
template <typename T>
void can_setSignal(can_Message_t& msg, const T& val, const uint8_t startBit, const uint8_t length, const bool isIntel, const float factor, const float offset) {
T scaledVal = (val - offset) / factor;
T scaledVal = (val - offset) / factor;
can_setSignal<T>(msg, scaledVal, startBit, length, isIntel);
}
@@ -117,9 +115,9 @@ TEST_CASE("fake") {
TEST_SUITE("CAN Functions") {
TEST_CASE("reverse") {
can_Message_t rxmsg;
rxmsg.id = 0x000;
rxmsg.id = 0x000;
rxmsg.isExt = false;
rxmsg.len = 8;
rxmsg.len = 8;
rxmsg.buf[0] = 0x12;
rxmsg.buf[1] = 0x34;
@@ -148,7 +146,7 @@ TEST_SUITE("CAN Functions") {
CHECK(floatVal == 1234.6789f);
can_Message_t msg;
msg.id = 0x00E;
msg.id = 0x00E;
msg.buf[0] = 0x96;
msg.buf[1] = 0x00;
msg.buf[2] = 0x00;
@@ -189,10 +187,9 @@ TEST_SUITE("CAN Functions") {
}
}
TEST_SUITE("delta_enc"){
TEST_SUITE("delta_enc") {
// Modulo (as opposed to remainder), per https://stackoverflow.com/a/19288271
int mod(int dividend, int divisor){
int mod(int dividend, int divisor) {
int r = dividend % divisor;
return (r < 0) ? (r + divisor) : r;
}
@@ -205,8 +202,7 @@ TEST_SUITE("delta_enc"){
return delta_enc;
}
TEST_CASE("mod"){
TEST_CASE("mod") {
int cpr = 1000;
// Check moves around 0
@@ -218,14 +214,13 @@ TEST_SUITE("delta_enc"){
CHECK(getDelta(50, 500, cpr) == -450);
CHECK(getDelta(500, 50, cpr) == 450);
// Test moving a distance larger than cpr / 2
CHECK(getDelta(950, 450, cpr) == 500);
CHECK(getDelta(451, 950, cpr) == -499);
CHECK(getDelta(450, 950, cpr) == 500);
// Test handling around mid-point
CHECK(getDelta(501, 499, cpr) == 2);
CHECK(getDelta(501, 499, cpr) == 2);
CHECK(getDelta(499, 501, cpr) == -2);
CHECK(getDelta(550, 450, cpr) == 100);
CHECK(getDelta(450, 550, cpr) == -100);
@@ -235,7 +230,7 @@ TEST_SUITE("delta_enc"){
TEST_SUITE("velLimiter") {
// Velocity limiting in current mode
#include <algorithm>
using doctest::Approx;
using doctest::Approx;
auto limitVel(float vel_limit, float vel_estimate, float vel_gain, float Iq) {
float Imax = (vel_limit - vel_estimate) * vel_gain;
@@ -256,21 +251,21 @@ using doctest::Approx;
CHECK(limitVel(1000.0f, 0.0f, 1.0f, -1.0f) == -1.0f);
}
TEST_CASE("Accelerating"){
TEST_CASE("Accelerating") {
CHECK(limitVel(200000.0f, 195000.0f, 5.0E-4f, 30.0f) == 2.5f);
CHECK(limitVel(200000.0f, 205000.0f, 5.0E-4f, 30.0f) == -2.5f);
CHECK(limitVel(200000.0f, -195000.0f, 5.0E-4, -30.0f) == -2.5f);
CHECK(limitVel(200000.0f, -205000.0f, 5.0E-4f, -30.0f) == 2.5f);
}
TEST_CASE("Decelerating"){
TEST_CASE("Decelerating") {
CHECK(limitVel(200000.0f, 195000.0f, 5.0E-4f, -30.0f) == -30.0f);
CHECK(limitVel(200000.0f, 205000.0f, 5.0E-4f, -30.0f) == -30.0f);
CHECK(limitVel(200000.0f, -195000.0f, 5.0E-4, 30.0f) == 30.0f);
CHECK(limitVel(200000.0f, -205000.0f, 5.0E-4f, 30.0f) == 30.0f);
}
TEST_CASE("Over-Center"){
TEST_CASE("Over-Center") {
CHECK(limitVel(20000.0f, 1000.0f, 5.0E-4f, 30.0f) == 9.5f);
CHECK(limitVel(20000.0f, -1000.0f, 5.0E-4f, 30.0f) == Approx(10.5f));
}
@@ -279,7 +274,7 @@ using doctest::Approx;
TEST_SUITE("vel_ramp") {
float vel_ramp_old(float input_vel_, float vel_setpoint_, float vel_ramp_rate) {
float max_step_size = 0.000125f * vel_ramp_rate;
float full_step = input_vel_ - vel_setpoint_;
float full_step = input_vel_ - vel_setpoint_;
float step;
if (std::abs(full_step) > max_step_size) {
step = std::copysignf(max_step_size, full_step);
@@ -289,11 +284,19 @@ TEST_SUITE("vel_ramp") {
return step;
}
float vel_ramp_new(float input_vel_, float vel_setpoint_, float vel_ramp_rate){
float vel_ramp_new(float input_vel_, float vel_setpoint_, float vel_ramp_rate) {
float max_step_size = 0.000125f * vel_ramp_rate;
float full_step = input_vel_ - vel_setpoint_;
float full_step = input_vel_ - vel_setpoint_;
return std::clamp(full_step, -max_step_size, max_step_size);
}
uint8_t parity(uint16_t v) {
v ^= v >> 8;
v ^= v >> 4;
v ^= v >> 2;
v ^= v >> 1;
return v & 1;
}
TEST_CASE("Blah") {
float vel_setpoint = 0.0f;
@@ -316,4 +319,9 @@ TEST_SUITE("vel_ramp") {
input_vel = 0.1234f;
CHECK(vel_ramp_old(input_vel, vel_setpoint, vel_ramp_rate) == vel_ramp_new(input_vel, vel_setpoint, vel_ramp_rate));
}
TEST_CASE("Parity") {
CHECK(parity(0x0DDF) == 0);
CHECK(parity(0x8DDF) == 1);
}
}
Firmware/Tupfile.lua
+7 -1
View File
@@ -187,4 +187,10 @@ build{
'.',
"C:/Tools/doctest/doctest"
}
}
}
if tup.getconfig('DOCTEST') == 'true' then
TEST_INCLUDES = '-IC:/Tools/doctest/doctest'
tup.frule{inputs='Tests/test_runner.cpp', command='g++ -std=gnu++17 '..TEST_INCLUDES..' %f -o %o', outputs='Tests/test_runner.exe'}
tup.frule{inputs='Tests/test_runner.exe', command='%f'}
end
Firmware/tup.config.default
+1
View File
@@ -4,6 +4,7 @@
CONFIG_USB_PROTOCOL=native
CONFIG_UART_PROTOCOL=ascii
CONFIG_DEBUG=false
CONFIG_DOCTEST=false
# Uncomment this to error on compilation warnings
#CONFIG_STRICT=true