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hysteresis: move out of systemlib, move to gtest

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This moves the hysteresis test out of the systemlib and makes it its own
small library. Since it still depends on hrt_absolute_time this does not
link yet. My attempt to get all link dependencies together failed.
This commit is contained in:
Julian Oes
2019-05-20 15:33:06 +02:00
parent b849991494
commit 7b9562e3b1
16 changed files with 88 additions and 99 deletions
Download Patch File Download Diff File Expand all files Collapse all files
platforms/posix/cmake/sitl_tests.cmake
-3
View File
@@ -15,7 +15,6 @@ set(tests
file2
float
hrt
hysteresis
int
IntrusiveQueue
List
@@ -40,7 +39,6 @@ set(tests
if (${CMAKE_SYSTEM_NAME} MATCHES "Darwin")
list(REMOVE_ITEM tests
hysteresis
mixer
uorb
)
@@ -48,7 +46,6 @@ endif()
if (CMAKE_SYSTEM_NAME STREQUAL "CYGWIN")
list(REMOVE_ITEM tests
hysteresis # Intermittent timing fails.
uorb
)
endif()
src/lib/CMakeLists.txt
+1
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@@ -45,6 +45,7 @@ add_subdirectory(conversion)
add_subdirectory(drivers)
add_subdirectory(ecl)
add_subdirectory(FlightTasks)
add_subdirectory(hysteresis)
add_subdirectory(landing_slope)
add_subdirectory(led)
add_subdirectory(mathlib)
src/lib/cdev/CMakeLists.txt
+1 -1
View File
@@ -50,4 +50,4 @@ px4_add_library(cdev
if(PX4_TESTING)
add_subdirectory(test)
endif()
endif()
src/lib/hysteresis/CMakeLists.txt
+36
View File
@@ -0,0 +1,36 @@
############################################################################
#
# Copyright (c) 2019 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
px4_add_library(hysteresis hysteresis.cpp)
px4_add_gtest(SRC hysteresis_test.cpp LINKLIBS hysteresis)
src/lib/systemlib/hysteresis/hysteresis.cpp → src/lib/hysteresis/hysteresis.cpp
View File
src/lib/systemlib/hysteresis/hysteresis.h → src/lib/hysteresis/hysteresis.h
View File
src/systemcmds/tests/test_hysteresis.cpp → src/lib/hysteresis/hysteresis_test.cpp
+45 -88
View File
@@ -32,89 +32,56 @@
****************************************************************************/
/**
* @file test_hysteresis.cpp
* @file hysteresis_test.cpp
* Tests for system timing hysteresis.
*/
#include <unit_test.h>
#include <gtest/gtest.h>
#include <unistd.h>
#include <systemlib/hysteresis/hysteresis.h>
#include "hysteresis.h"
class HysteresisTest : public UnitTest
{
public:
virtual bool run_tests();
private:
bool _init_false();
bool _init_true();
bool _zero_case();
bool _change_after_time();
bool _hysteresis_changed();
bool _change_after_multiple_sets();
bool _take_change_back();
// timing on MacOS and Cygwin isn't great
#if defined(__PX4_DARWIN) || defined(__PX4_CYGWIN)
static const int f = 10;
static const int f = 10;
#else
static const int f = 1;
static const int f = 1;
#endif
};
bool HysteresisTest::run_tests()
{
ut_run_test(_init_false);
ut_run_test(_init_true);
ut_run_test(_zero_case);
ut_run_test(_change_after_time);
ut_run_test(_hysteresis_changed);
ut_run_test(_change_after_multiple_sets);
ut_run_test(_take_change_back);
return (_tests_failed == 0);
}
bool HysteresisTest::_init_false()
TEST(Hysteresis, InitFalse)
{
systemlib::Hysteresis hysteresis(false);
ut_assert_false(hysteresis.get_state());
return true;
EXPECT_FALSE(hysteresis.get_state());
}
bool HysteresisTest::_init_true()
TEST(Hysteresis, InitTrue)
{
systemlib::Hysteresis hysteresis(true);
ut_assert_true(hysteresis.get_state());
return true;
EXPECT_TRUE(hysteresis.get_state());
}
bool HysteresisTest::_zero_case()
TEST(Hysteresis, Zero)
{
// Default is 0 hysteresis.
systemlib::Hysteresis hysteresis(false);
ut_assert_false(hysteresis.get_state());
EXPECT_FALSE(hysteresis.get_state());
// Change and see result immediately.
hysteresis.set_state_and_update(true);
ut_assert_true(hysteresis.get_state());
EXPECT_TRUE(hysteresis.get_state());
hysteresis.set_state_and_update(false);
ut_assert_false(hysteresis.get_state());
EXPECT_FALSE(hysteresis.get_state());
hysteresis.set_state_and_update(true);
ut_assert_true(hysteresis.get_state());
EXPECT_TRUE(hysteresis.get_state());
// A wait won't change anything.
px4_usleep(1000 * f);
hysteresis.update();
ut_assert_true(hysteresis.get_state());
return true;
EXPECT_TRUE(hysteresis.get_state());
}
bool HysteresisTest::_change_after_time()
TEST(Hysteresis, ChangeAfterTime)
{
systemlib::Hysteresis hysteresis(false);
@@ -123,28 +90,26 @@ bool HysteresisTest::_change_after_time()
// Change to true.
hysteresis.set_state_and_update(true);
ut_assert_false(hysteresis.get_state());
EXPECT_FALSE(hysteresis.get_state());
px4_usleep(4000 * f);
hysteresis.update();
ut_assert_false(hysteresis.get_state());
EXPECT_FALSE(hysteresis.get_state());
px4_usleep(2000 * f);
hysteresis.update();
ut_assert_true(hysteresis.get_state());
EXPECT_TRUE(hysteresis.get_state());
// Change back to false.
hysteresis.set_state_and_update(false);
ut_assert_true(hysteresis.get_state());
EXPECT_TRUE(hysteresis.get_state());
px4_usleep(1000 * f);
hysteresis.update();
ut_assert_true(hysteresis.get_state());
EXPECT_TRUE(hysteresis.get_state());
px4_usleep(3000 * f);
hysteresis.update();
ut_assert_false(hysteresis.get_state());
return true;
EXPECT_FALSE(hysteresis.get_state());
}
bool HysteresisTest::_hysteresis_changed()
TEST(Hysteresis, HysteresisChanged)
{
systemlib::Hysteresis hysteresis(false);
hysteresis.set_hysteresis_time_from(true, 2000 * f);
@@ -152,31 +117,29 @@ bool HysteresisTest::_hysteresis_changed()
// Change to true.
hysteresis.set_state_and_update(true);
ut_assert_false(hysteresis.get_state());
EXPECT_FALSE(hysteresis.get_state());
px4_usleep(3000 * f);
hysteresis.update();
ut_assert_false(hysteresis.get_state());
EXPECT_FALSE(hysteresis.get_state());
px4_usleep(3000 * f);
hysteresis.update();
ut_assert_true(hysteresis.get_state());
EXPECT_TRUE(hysteresis.get_state());
// Change hysteresis time.
hysteresis.set_hysteresis_time_from(true, 10000 * f);
// Change back to false.
hysteresis.set_state_and_update(false);
ut_assert_true(hysteresis.get_state());
EXPECT_TRUE(hysteresis.get_state());
px4_usleep(7000 * f);
hysteresis.update();
ut_assert_true(hysteresis.get_state());
EXPECT_TRUE(hysteresis.get_state());
px4_usleep(5000 * f);
hysteresis.update();
ut_assert_false(hysteresis.get_state());
return true;
EXPECT_FALSE(hysteresis.get_state());
}
bool HysteresisTest::_change_after_multiple_sets()
TEST(Hysteresis, ChangeAfterMultipleSets)
{
systemlib::Hysteresis hysteresis(false);
hysteresis.set_hysteresis_time_from(true, 5000 * f);
@@ -184,60 +147,54 @@ bool HysteresisTest::_change_after_multiple_sets()
// Change to true.
hysteresis.set_state_and_update(true);
ut_assert_false(hysteresis.get_state());
EXPECT_FALSE(hysteresis.get_state());
px4_usleep(3000 * f);
hysteresis.set_state_and_update(true);
ut_assert_false(hysteresis.get_state());
EXPECT_FALSE(hysteresis.get_state());
px4_usleep(3000 * f);
hysteresis.set_state_and_update(true);
ut_assert_true(hysteresis.get_state());
EXPECT_TRUE(hysteresis.get_state());
// Change to false.
hysteresis.set_state_and_update(false);
ut_assert_true(hysteresis.get_state());
EXPECT_TRUE(hysteresis.get_state());
px4_usleep(3000 * f);
hysteresis.set_state_and_update(false);
ut_assert_true(hysteresis.get_state());
EXPECT_TRUE(hysteresis.get_state());
px4_usleep(3000 * f);
hysteresis.set_state_and_update(false);
ut_assert_false(hysteresis.get_state());
return true;
EXPECT_FALSE(hysteresis.get_state());
}
bool HysteresisTest::_take_change_back()
TEST(Hysteresis, TakeChangeBack)
{
systemlib::Hysteresis hysteresis(false);
hysteresis.set_hysteresis_time_from(false, 5000 * f);
// Change to true.
hysteresis.set_state_and_update(true);
ut_assert_false(hysteresis.get_state());
EXPECT_FALSE(hysteresis.get_state());
px4_usleep(3000 * f);
hysteresis.update();
ut_assert_false(hysteresis.get_state());
EXPECT_FALSE(hysteresis.get_state());
// Change your mind to false.
hysteresis.set_state_and_update(false);
ut_assert_false(hysteresis.get_state());
EXPECT_FALSE(hysteresis.get_state());
px4_usleep(6000 * f);
hysteresis.update();
ut_assert_false(hysteresis.get_state());
EXPECT_FALSE(hysteresis.get_state());
// And true again
hysteresis.set_state_and_update(true);
ut_assert_false(hysteresis.get_state());
EXPECT_FALSE(hysteresis.get_state());
px4_usleep(3000 * f);
hysteresis.update();
ut_assert_false(hysteresis.get_state());
EXPECT_FALSE(hysteresis.get_state());
px4_usleep(3000 * f);
hysteresis.update();
ut_assert_true(hysteresis.get_state());
EXPECT_TRUE(hysteresis.get_state());
// The other directory is immediate.
hysteresis.set_state_and_update(false);
ut_assert_false(hysteresis.get_state());
return true;
EXPECT_FALSE(hysteresis.get_state());
}
ut_declare_test_c(test_hysteresis, HysteresisTest)
src/lib/systemlib/CMakeLists.txt
-1
View File
@@ -35,7 +35,6 @@ set(SRCS
conversions.c
cpuload.c
crc.c
hysteresis/hysteresis.cpp
mavlink_log.c
otp.c
)
src/modules/commander/CMakeLists.txt
+1
View File
@@ -62,6 +62,7 @@ px4_add_module(
failure_detector
git_ecl
ecl_geo
hysteresis
)
if(PX4_TESTING)
src/modules/commander/Commander.hpp
+1 -1
View File
@@ -41,7 +41,7 @@
#include <lib/mathlib/mathlib.h>
#include <px4_module.h>
#include <px4_module_params.h>
#include <systemlib/hysteresis/hysteresis.h>
#include <lib/hysteresis/hysteresis.h>
// publications
#include <uORB/Publication.hpp>
src/modules/land_detector/CMakeLists.txt
+1
View File
@@ -43,5 +43,6 @@ px4_add_module(
VtolLandDetector.cpp
RoverLandDetector.cpp
DEPENDS
hysteresis
)
src/modules/land_detector/LandDetector.h
+1 -1
View File
@@ -44,7 +44,7 @@
#include <px4_workqueue.h>
#include <px4_module.h>
#include <systemlib/hysteresis/hysteresis.h>
#include <lib/hysteresis/hysteresis.h>
#include <parameters/param.h>
#include <perf/perf_counter.h>
#include <uORB/uORB.h>
src/modules/mc_pos_control/mc_pos_control_main.cpp
+1 -1
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@@ -43,7 +43,7 @@
#include <px4_module.h>
#include <px4_posix.h>
#include <drivers/drv_hrt.h>
#include <systemlib/hysteresis/hysteresis.h>
#include <lib/hysteresis/hysteresis.h>
#include <commander/px4_custom_mode.h>
#include <uORB/topics/home_position.h>
src/systemcmds/tests/CMakeLists.txt
-1
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@@ -44,7 +44,6 @@ set(srcs
test_float.cpp
test_hott_telemetry.c
test_hrt.cpp
test_hysteresis.cpp
test_int.cpp
test_IntrusiveQueue.cpp
test_jig_voltages.c
src/systemcmds/tests/tests_main.c
-1
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@@ -93,7 +93,6 @@ const struct {
{"float", test_float, 0},
{"hott_telemetry", test_hott_telemetry, OPT_NOJIGTEST | OPT_NOALLTEST},
{"hrt", test_hrt, OPT_NOJIGTEST | OPT_NOALLTEST},
{"hysteresis", test_hysteresis, 0},
{"int", test_int, 0},
{"IntrusiveQueue", test_IntrusiveQueue, 0},
{"jig_voltages", test_jig_voltages, OPT_NOALLTEST},
src/systemcmds/tests/tests_main.h
-1
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@@ -55,7 +55,6 @@ extern int test_file2(int argc, char *argv[]);
extern int test_float(int argc, char *argv[]);
extern int test_hott_telemetry(int argc, char *argv[]);
extern int test_hrt(int argc, char *argv[]);
extern int test_hysteresis(int argc, char *argv[]);
extern int test_int(int argc, char *argv[]);
extern int test_IntrusiveQueue(int argc, char *argv[]);
extern int test_jig_voltages(int argc, char *argv[]);