mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-26 16:30:07 +08:00
[tests] skeleton for testing math lib with libtap
using [libtap](https://github.com/zorgnax/libtap) to create a [TAP](http://testanything.org) (TestAnythingProtocol) producer. You can also run the test (if already compiled) with prove: ``` prove --exec '' tests/math/test_pprz_math.run ```
This commit is contained in:
Felix Ruess
@@ -31,7 +31,7 @@ all:
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@cat README
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shared_lib: $(OBJ)
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$(CC) -shared -o $(BUILDDIR)/$(LIBNAME).so $(OBJ)
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$(CC) -shared -o $(BUILDDIR)/$(LIBNAME).so $(OBJ) -lm
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install_shared_lib: shared_lib
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test -d $(LIB_INSTALLDIR) || mkdir -p $(LIB_INSTALLDIR)
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+2
-1
@@ -15,7 +15,7 @@ else
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TEST_DIRECTORIES = $(NON_HARDWARE_TEST_DIRS) $(HARDWARE_TEST_DIRS)
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endif
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endif
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TEST_FILES ?= $(shell ls $(TEST_DIRECTORIES:%=%/*.t))
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TEST_FILES ?= $(shell ls $(TEST_DIRECTORIES:%=%/*.t) 2> /dev/null)
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ifneq ($(JUNIT),)
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PERLENV=PERL_TEST_HARNESS_DUMP_TAP=$(PAPARAZZI_SRC)/tests/results
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@@ -26,6 +26,7 @@ else
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endif
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test:
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$(Q)make -C math test
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$(Q)$(PERLENV) $(PERL) "-e" "$(RUNTESTS)"
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clean:
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@@ -0,0 +1 @@
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test_pprz_math.run
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@@ -0,0 +1,64 @@
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# Copyright (C) 2014 Piotr Esden-Tempski
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#
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# This file is part of paparazzi.
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#
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# paparazzi is free software; you can redistribute it and/or modify
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# it under the terms of the GNU General Public License as published by
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# the Free Software Foundation; either version 2, or (at your option)
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# any later version.
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#
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# paparazzi is distributed in the hope that it will be useful,
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# but WITHOUT ANY WARRANTY; without even the implied warranty of
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# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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# GNU General Public License for more details.
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#
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# You should have received a copy of the GNU General Public License
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# along with paparazzi; see the file COPYING. If not, see
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# <http://www.gnu.org/licenses/>.
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# The default is to produce a quiet echo of compilation commands
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# Launch with "make Q=''" to get full echo
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# Make sure all our environment is set properly in case we run make not from toplevel director.
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Q ?= @
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PAPARAZZI_SRC ?= $(shell pwd)/../..
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ifeq ($(PAPARAZZI_HOME),)
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PAPARAZZI_HOME=$(PAPARAZZI_SRC)
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endif
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# export the PAPARAZZI environment to sub-make
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export PAPARAZZI_SRC
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export PAPARAZZI_HOME
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MATHSRC_PATH=$(PAPARAZZI_SRC)/sw/airborne/math
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MATHLIB_PATH=$(PAPARAZZI_SRC)/var/build/math
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#####################################################
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# If you add more test files you add their names here
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TESTS = test_pprz_math.run
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###################################################
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# You should not need to touch the rest of the file
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all: test
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math_shlib:
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$(Q)cd $(MATHSRC_PATH); make shared_lib
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build_tests: math_shlib $(TESTS)
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test: build_tests
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$(Q)for i in $(TESTS); do \
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./$$i; \
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done
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%.run: %.c
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$(CC) -L$(MATHLIB_PATH) -I$(PAPARAZZI_SRC)/sw/airborne -I$(PAPARAZZI_SRC)/sw/include tap.c $< -lpprzmath -o $@
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clean:
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$(Q)rm -f $(MATHLIB_PATH)/*.o $(MATHLIB_PATH)/libpprzmath.so
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$(Q)rm -f $(TESTS)
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.PHONY: math_shlib build_tests test clean all
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@@ -0,0 +1,371 @@
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/*
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libtap - Write tests in C
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Copyright 2012 Jake Gelbman <gelbman@gmail.com>
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This file is licensed under the GPLv2 or any later version
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*/
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#define _BSD_SOURCE 1
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#include <stdio.h>
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#include <stdlib.h>
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#include <stdarg.h>
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#include <string.h>
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#include "tap.h"
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static int expected_tests = NO_PLAN;
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static int failed_tests;
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static int current_test;
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static char *todo_mesg;
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static char *
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vstrdupf (const char *fmt, va_list args) {
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char *str;
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int size;
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va_list args2;
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va_copy(args2, args);
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if (!fmt)
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fmt = "";
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size = vsnprintf(NULL, 0, fmt, args2) + 2;
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str = malloc(size);
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if (!str) {
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perror("malloc error");
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exit(1);
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}
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vsprintf(str, fmt, args);
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va_end(args2);
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return str;
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}
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void
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tap_plan (int tests, const char *fmt, ...) {
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expected_tests = tests;
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if (tests == SKIP_ALL) {
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char *why;
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va_list args;
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va_start(args, fmt);
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why = vstrdupf(fmt, args);
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va_end(args);
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printf("1..0 ");
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note("SKIP %s\n", why);
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exit(0);
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}
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if (tests != NO_PLAN) {
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printf("1..%d\n", tests);
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}
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}
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int
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vok_at_loc (const char *file, int line, int test, const char *fmt,
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va_list args)
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{
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char *name = vstrdupf(fmt, args);
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if (!test)
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printf("not ");
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printf("ok %d", ++current_test);
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if (*name)
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printf(" - %s", name);
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if (todo_mesg) {
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printf(" # TODO");
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if (*todo_mesg)
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printf(" %s", todo_mesg);
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}
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printf("\n");
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if (!test) {
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fprintf(stderr, "# Failed ");
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if (todo_mesg)
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fprintf(stderr, "(TODO) ");
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fprintf(stderr, "test ");
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if (*name)
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fprintf(stderr, "'%s'\n# ", name);
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fprintf(stderr, "at %s line %d.\n", file, line);
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if (!todo_mesg)
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failed_tests++;
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}
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free(name);
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return test;
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}
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int
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ok_at_loc (const char *file, int line, int test, const char *fmt, ...) {
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va_list args;
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va_start(args, fmt);
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vok_at_loc(file, line, test, fmt, args);
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va_end(args);
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return test;
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}
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static int
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mystrcmp (const char *a, const char *b) {
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return a == b ? 0 : !a ? -1 : !b ? 1 : strcmp(a, b);
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}
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#define eq(a, b) (!mystrcmp(a, b))
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#define ne(a, b) (mystrcmp(a, b))
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int
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is_at_loc (const char *file, int line, const char *got, const char *expected,
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const char *fmt, ...)
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{
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int test = eq(got, expected);
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va_list args;
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va_start(args, fmt);
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vok_at_loc(file, line, test, fmt, args);
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va_end(args);
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if (!test) {
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diag(" got: '%s'", got);
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diag(" expected: '%s'", expected);
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}
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return test;
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}
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int
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isnt_at_loc (const char *file, int line, const char *got, const char *expected,
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const char *fmt, ...)
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{
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int test = ne(got, expected);
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va_list args;
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va_start(args, fmt);
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vok_at_loc(file, line, test, fmt, args);
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va_end(args);
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if (!test) {
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diag(" got: '%s'", got);
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diag(" expected: anything else");
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}
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return test;
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}
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int
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cmp_ok_at_loc (const char *file, int line, int a, const char *op, int b,
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const char *fmt, ...)
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{
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int test = eq(op, "||") ? a || b
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: eq(op, "&&") ? a && b
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: eq(op, "|") ? a | b
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: eq(op, "^") ? a ^ b
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: eq(op, "&") ? a & b
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: eq(op, "==") ? a == b
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: eq(op, "!=") ? a != b
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: eq(op, "<") ? a < b
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: eq(op, ">") ? a > b
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: eq(op, "<=") ? a <= b
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: eq(op, ">=") ? a >= b
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: eq(op, "<<") ? a << b
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: eq(op, ">>") ? a >> b
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: eq(op, "+") ? a + b
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: eq(op, "-") ? a - b
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: eq(op, "*") ? a * b
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: eq(op, "/") ? a / b
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: eq(op, "%") ? a % b
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: diag("unrecognized operator '%s'", op);
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va_list args;
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va_start(args, fmt);
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vok_at_loc(file, line, test, fmt, args);
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va_end(args);
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if (!test) {
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diag(" %d", a);
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diag(" %s", op);
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diag(" %d", b);
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}
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return test;
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}
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static int
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find_mem_diff (const char *a, const char *b, size_t n, size_t *offset) {
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size_t i;
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if (a == b)
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return 0;
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if (!a || !b)
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return 2;
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for (i = 0; i < n; i++) {
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if (a[i] != b[i]) {
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*offset = i;
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return 1;
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}
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}
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return 0;
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}
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int
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cmp_mem_at_loc (const char *file, int line, const void *got,
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const void *expected, size_t n, const char *fmt, ...)
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{
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size_t offset;
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int diff = find_mem_diff(got, expected, n, &offset);
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va_list args;
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va_start(args, fmt);
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vok_at_loc(file, line, !diff, fmt, args);
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va_end(args);
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if (diff == 1) {
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diag(" Difference starts at offset %d", offset);
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diag(" got: 0x%02x", ((unsigned char *)got)[offset]);
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diag(" expected: 0x%02x", ((unsigned char *)expected)[offset]);
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}
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else if (diff == 2) {
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diag(" got: %s", got ? "not NULL" : "NULL");
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diag(" expected: %s", expected ? "not NULL" : "NULL");
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}
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return !diff;
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}
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static void
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vdiag_to_fh (FILE *fh, const char *fmt, va_list args) {
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char *mesg, *line;
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int i;
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if (!fmt)
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return;
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mesg = vstrdupf(fmt, args);
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line = mesg;
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for (i = 0; *line; i++) {
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char c = mesg[i];
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if (!c || c == '\n') {
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mesg[i] = '\0';
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fprintf(fh, "# %s\n", line);
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if (!c)
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break;
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mesg[i] = c;
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line = mesg + i + 1;
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||||
}
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}
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free(mesg);
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return;
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}
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|
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int
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diag (const char *fmt, ...) {
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va_list args;
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va_start(args, fmt);
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||||
vdiag_to_fh(stderr, fmt, args);
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||||
va_end(args);
|
||||
return 0;
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||||
}
|
||||
|
||||
int
|
||||
note (const char *fmt, ...) {
|
||||
va_list args;
|
||||
va_start(args, fmt);
|
||||
vdiag_to_fh(stdout, fmt, args);
|
||||
va_end(args);
|
||||
return 0;
|
||||
}
|
||||
|
||||
int
|
||||
exit_status () {
|
||||
int retval = 0;
|
||||
if (expected_tests == NO_PLAN) {
|
||||
printf("1..%d\n", current_test);
|
||||
}
|
||||
else if (current_test != expected_tests) {
|
||||
diag("Looks like you planned %d test%s but ran %d.",
|
||||
expected_tests, expected_tests > 1 ? "s" : "", current_test);
|
||||
retval = 255;
|
||||
}
|
||||
if (failed_tests) {
|
||||
diag("Looks like you failed %d test%s of %d run.",
|
||||
failed_tests, failed_tests > 1 ? "s" : "", current_test);
|
||||
if (expected_tests == NO_PLAN)
|
||||
retval = failed_tests;
|
||||
else
|
||||
retval = expected_tests - current_test + failed_tests;
|
||||
}
|
||||
return retval;
|
||||
}
|
||||
|
||||
int
|
||||
bail_out (int ignore, const char *fmt, ...) {
|
||||
va_list args;
|
||||
va_start(args, fmt);
|
||||
printf("Bail out! ");
|
||||
vprintf(fmt, args);
|
||||
printf("\n");
|
||||
va_end(args);
|
||||
exit(255);
|
||||
return 0;
|
||||
}
|
||||
|
||||
void
|
||||
tap_skip (int n, const char *fmt, ...) {
|
||||
char *why;
|
||||
va_list args;
|
||||
va_start(args, fmt);
|
||||
why = vstrdupf(fmt, args);
|
||||
va_end(args);
|
||||
while (n --> 0) {
|
||||
printf("ok %d ", ++current_test);
|
||||
note("skip %s\n", why);
|
||||
}
|
||||
free(why);
|
||||
}
|
||||
|
||||
void
|
||||
tap_todo (int ignore, const char *fmt, ...) {
|
||||
va_list args;
|
||||
va_start(args, fmt);
|
||||
todo_mesg = vstrdupf(fmt, args);
|
||||
va_end(args);
|
||||
}
|
||||
|
||||
void
|
||||
tap_end_todo () {
|
||||
free(todo_mesg);
|
||||
todo_mesg = NULL;
|
||||
}
|
||||
|
||||
#ifndef _WIN32
|
||||
#include <sys/mman.h>
|
||||
#include <sys/param.h>
|
||||
#include <regex.h>
|
||||
|
||||
#if defined __APPLE__ || defined BSD
|
||||
#define MAP_ANONYMOUS MAP_ANON
|
||||
#endif
|
||||
|
||||
/* Create a shared memory int to keep track of whether a piece of code executed
|
||||
dies. to be used in the dies_ok and lives_ok macros. */
|
||||
int
|
||||
tap_test_died (int status) {
|
||||
static int *test_died = NULL;
|
||||
int prev;
|
||||
if (!test_died) {
|
||||
test_died = mmap(0, sizeof (int), PROT_READ | PROT_WRITE,
|
||||
MAP_SHARED | MAP_ANONYMOUS, -1, 0);
|
||||
*test_died = 0;
|
||||
}
|
||||
prev = *test_died;
|
||||
*test_died = status;
|
||||
return prev;
|
||||
}
|
||||
|
||||
int
|
||||
like_at_loc (int for_match, const char *file, int line, const char *got,
|
||||
const char *expected, const char *fmt, ...)
|
||||
{
|
||||
int test;
|
||||
regex_t re;
|
||||
va_list args;
|
||||
int err = regcomp(&re, expected, REG_EXTENDED);
|
||||
if (err) {
|
||||
char errbuf[256];
|
||||
regerror(err, &re, errbuf, sizeof errbuf);
|
||||
fprintf(stderr, "Unable to compile regex '%s': %s at %s line %d\n",
|
||||
expected, errbuf, file, line);
|
||||
exit(255);
|
||||
}
|
||||
err = regexec(&re, got, 0, NULL, 0);
|
||||
regfree(&re);
|
||||
test = for_match ? !err : err;
|
||||
va_start(args, fmt);
|
||||
vok_at_loc(file, line, test, fmt, args);
|
||||
va_end(args);
|
||||
if (!test) {
|
||||
if (for_match) {
|
||||
diag(" '%s'", got);
|
||||
diag(" doesn't match: '%s'", expected);
|
||||
}
|
||||
else {
|
||||
diag(" '%s'", got);
|
||||
diag(" matches: '%s'", expected);
|
||||
}
|
||||
}
|
||||
return test;
|
||||
}
|
||||
#endif
|
||||
@@ -0,0 +1,116 @@
|
||||
/*
|
||||
libtap - Write tests in C
|
||||
Copyright 2012 Jake Gelbman <gelbman@gmail.com>
|
||||
This file is licensed under the GPLv2 or any later version
|
||||
*/
|
||||
|
||||
#ifndef __TAP_H__
|
||||
#define __TAP_H__
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
#ifndef va_copy
|
||||
#ifdef __va_copy
|
||||
#define va_copy __va_copy
|
||||
#else
|
||||
#define va_copy(d, s) ((d) = (s))
|
||||
#endif
|
||||
#endif
|
||||
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <stdarg.h>
|
||||
|
||||
int vok_at_loc (const char *file, int line, int test, const char *fmt,
|
||||
va_list args);
|
||||
int ok_at_loc (const char *file, int line, int test, const char *fmt,
|
||||
...);
|
||||
int is_at_loc (const char *file, int line, const char *got,
|
||||
const char *expected, const char *fmt, ...);
|
||||
int isnt_at_loc (const char *file, int line, const char *got,
|
||||
const char *expected, const char *fmt, ...);
|
||||
int cmp_ok_at_loc (const char *file, int line, int a, const char *op,
|
||||
int b, const char *fmt, ...);
|
||||
int cmp_mem_at_loc (const char *file, int line, const void *got,
|
||||
const void *expected, size_t n, const char *fmt, ...);
|
||||
int bail_out (int ignore, const char *fmt, ...);
|
||||
void tap_plan (int tests, const char *fmt, ...);
|
||||
int diag (const char *fmt, ...);
|
||||
int note (const char *fmt, ...);
|
||||
int exit_status (void);
|
||||
void tap_skip (int n, const char *fmt, ...);
|
||||
void tap_todo (int ignore, const char *fmt, ...);
|
||||
void tap_end_todo (void);
|
||||
|
||||
#define NO_PLAN -1
|
||||
#define SKIP_ALL -2
|
||||
#define ok(...) ok_at_loc(__FILE__, __LINE__, __VA_ARGS__, NULL)
|
||||
#define is(...) is_at_loc(__FILE__, __LINE__, __VA_ARGS__, NULL)
|
||||
#define isnt(...) isnt_at_loc(__FILE__, __LINE__, __VA_ARGS__, NULL)
|
||||
#define cmp_ok(...) cmp_ok_at_loc(__FILE__, __LINE__, __VA_ARGS__, NULL)
|
||||
#define cmp_mem(...) cmp_mem_at_loc(__FILE__, __LINE__, __VA_ARGS__, NULL);
|
||||
#define plan(...) tap_plan(__VA_ARGS__, NULL)
|
||||
#define done_testing() return exit_status()
|
||||
#define BAIL_OUT(...) bail_out(0, "" __VA_ARGS__, NULL)
|
||||
#define pass(...) ok(1, "" __VA_ARGS__)
|
||||
#define fail(...) ok(0, "" __VA_ARGS__)
|
||||
|
||||
#define skip(test, ...) do {if (test) {tap_skip(__VA_ARGS__, NULL); break;}
|
||||
#define end_skip } while (0)
|
||||
|
||||
#define todo(...) tap_todo(0, "" __VA_ARGS__, NULL)
|
||||
#define end_todo tap_end_todo()
|
||||
|
||||
#define dies_ok(...) dies_ok_common(1, __VA_ARGS__)
|
||||
#define lives_ok(...) dies_ok_common(0, __VA_ARGS__)
|
||||
|
||||
#ifdef _WIN32
|
||||
#define like(...) tap_skip(1, "like is not implemented on Windows")
|
||||
#define unlike tap_skip(1, "unlike is not implemented on Windows")
|
||||
#define dies_ok_common(...) \
|
||||
tap_skip(1, "Death detection is not supported on Windows")
|
||||
#else
|
||||
#define like(...) like_at_loc(1, __FILE__, __LINE__, __VA_ARGS__, NULL)
|
||||
#define unlike(...) like_at_loc(0, __FILE__, __LINE__, __VA_ARGS__, NULL)
|
||||
int like_at_loc (int for_match, const char *file, int line,
|
||||
const char *got, const char *expected,
|
||||
const char *fmt, ...);
|
||||
#include <unistd.h>
|
||||
#include <sys/types.h>
|
||||
#include <sys/wait.h>
|
||||
int tap_test_died (int status);
|
||||
#define dies_ok_common(for_death, code, ...) \
|
||||
do { \
|
||||
int cpid; \
|
||||
int it_died; \
|
||||
tap_test_died(1); \
|
||||
cpid = fork(); \
|
||||
switch (cpid) { \
|
||||
case -1: \
|
||||
perror("fork error"); \
|
||||
exit(1); \
|
||||
case 0: \
|
||||
close(1); \
|
||||
close(2); \
|
||||
code \
|
||||
tap_test_died(0); \
|
||||
exit(0); \
|
||||
} \
|
||||
if (waitpid(cpid, NULL, 0) < 0) { \
|
||||
perror("waitpid error"); \
|
||||
exit(1); \
|
||||
} \
|
||||
it_died = tap_test_died(0); \
|
||||
if (!it_died) \
|
||||
{code} \
|
||||
ok(for_death ? it_died : !it_died, "" __VA_ARGS__); \
|
||||
} while (0)
|
||||
#endif
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif
|
||||
@@ -0,0 +1,46 @@
|
||||
/*
|
||||
* 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_pprz_math.c
|
||||
* @brief Tests for Paparazzi math libary.
|
||||
*
|
||||
* Using libtap to create a TAP (TestAnythingProtocol) producer:
|
||||
* https://github.com/zorgnax/libtap
|
||||
*
|
||||
*/
|
||||
|
||||
#include "tap.h"
|
||||
#include "math/pprz_algebra_int.h"
|
||||
|
||||
int main()
|
||||
{
|
||||
plan(1);
|
||||
|
||||
/* test int32_vect2_normalize */
|
||||
struct Int32Vect2 v = {2300, -4200};
|
||||
int32_vect2_normalize(&v, 10);
|
||||
|
||||
ok((v.x == 491 && v.y == -898),
|
||||
"int32_vect2_normalize([2300, -4200], 10) returned [%d, %d]", v.x, v.y);
|
||||
|
||||
|
||||
done_testing();
|
||||
}
|
||||
Reference in New Issue
Block a user