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[tests] add first tests for state interface

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and quiet some build output
This commit is contained in:
Felix Ruess
2014-12-05 18:44:40 +01:00
parent 649d4eacc6
commit f2b9ce5a90
4 changed files with 106 additions and 9 deletions
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tests/math/.gitignore
+1
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@@ -1,2 +1,3 @@
test_pprz_math.run
test_pprz_geodetic.run
test_state_interface.run
tests/math/Makefile
+13 -6
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@@ -36,11 +36,16 @@ MATHLIB_PATH=$(PAPARAZZI_SRC)/var/build/math
#####################################################
# If you add more test files you add their names here
TESTS = test_pprz_math.run test_pprz_geodetic.run
TESTS = test_pprz_math.run test_pprz_geodetic.run test_state_interface.run
###################################################
# You should not need to touch the rest of the file
TEST_VERBOSE ?= 0
ifneq ($(TEST_VERBOSE), 0)
VERBOSE = --verbose
endif
all: test
math_shlib:
@@ -49,12 +54,14 @@ math_shlib:
build_tests: math_shlib $(TESTS)
test: build_tests
$(Q)for i in $(TESTS); do \
LD_LIBRARY_PATH=$(MATHLIB_PATH):$LD_LIBRARY_PATH ./$$i; \
done
LD_LIBRARY_PATH=$(MATHLIB_PATH):$LD_LIBRARY_PATH prove $(VERBOSE) --exec '' ./*.run
%.run: %.c
$(CC) -L$(MATHLIB_PATH) -I$(PAPARAZZI_SRC)/sw/airborne -I$(PAPARAZZI_SRC)/sw/include $(USER_CFLAGS) tap.c $< -lpprzmath -o $@
# test_state_interface also depends on state.c
test_state_interface.run: $(PAPARAZZI_SRC)/sw/airborne/state.c
%.run: %.c | math_shlib
@echo BUILD $@
$(Q)$(CC) -L$(MATHLIB_PATH) -I$(PAPARAZZI_SRC)/sw/airborne -I$(PAPARAZZI_SRC)/sw/include $(USER_CFLAGS) tap.c $^ -lpprzmath -o $@
clean:
$(Q)rm -f $(MATHLIB_PATH)/*.o $(MATHLIB_PATH)/libpprzmath.so
tests/math/test_state_interface.c
+88
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@@ -0,0 +1,88 @@
/*
* Copyright (C) 2014 Felix Ruess <felix.ruess@gmail.com>
*
* This file is part of paparazzi.
*
* paparazzi is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2, or (at your option)
* any later version.
*
* paparazzi is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, see
* <http://www.gnu.org/licenses/>.
*/
/**
* @file test_state_interface.c
* @brief Tests for Paparazzi state interface.
*
* Which heavily uses the math libary.
*
* Using libtap to create a TAP (TestAnythingProtocol) producer:
* https://github.com/zorgnax/libtap
*
*/
#include "tap.h"
#include "state.h"
#include "math/pprz_geodetic_double.h"
static void test_pos_lla_i(void)
{
struct LlaCoor_d lla_ref = {.lat=0.749999999392454875,
.lon=0.019999999054505127,
.alt=180.0};
note("LLA reference: lat: %.10f deg, lon: %.10f deg, alt %.4f m",
DegOfRad(lla_ref.lat), DegOfRad(lla_ref.lon), lla_ref.alt);
struct LlaCoor_i lla_ref_i;
LLA_BFP_OF_REAL(lla_ref_i, lla_ref);
struct EcefCoor_d ecef_ref;
ecef_of_lla_d(&ecef_ref, &lla_ref);
note("ECEF reference: x: %.4f m, y: %.4f m, z: %.4f m",
ecef_ref.x, ecef_ref.y, ecef_ref.z);
/* calc lla_i from ecef_f */
struct EcefCoor_f ecef_f;
VECT3_COPY(ecef_f, ecef_ref);
stateSetPositionEcef_f(&ecef_f);
struct LlaCoor_i *lla_result;
lla_result = stateGetPositionLla_i();
/* compare LLA result with reference (directly convered from double) */
int32_t lat_err = abs(lla_result->lat - lla_ref_i.lat);
int32_t lon_err = abs(lla_result->lon - lla_ref_i.lon);
int32_t alt_err = abs(lla_result->alt - lla_ref_i.alt);
/* max error is 1e-6 deg in lat/lon and 10cm in alt (lla_i is in 1e7deg and mm) */
const int32_t max_err_i = 1e-6 * 1e7; // convert to 1e7 deg
if (lat_err < max_err_i && lon_err < max_err_i && alt_err < 100) {
pass("stateGetPositionLla_i() from ecef_f has max error of 1e-6deg in lat/lon and 10cm in lat");
}
else {
note("lat is %d, should be %d", lla_result->lat, lla_ref_i.lat);
note("lon is %d, should be %d", lla_result->lon, lla_ref_i.lon);
note("alt is %d, should be %d", lla_result->alt, lla_ref_i.alt);
fail("stateGetPositionLla_i() from ecef_f exceeded error of 1e-6deg in lat/lon and 10cm in lat");
}
}
int main()
{
note("\n *** running state interface tests ***");
plan(1);
stateInit();
test_pos_lla_i();
done_testing();
}