ParameterTest.cpp

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#include <px4_platform_common/module_params.h>
#include <uORB/Subscription.hpp>
#include <uORB/topics/obstacle_distance.h>
#include <uORB/uORBManager.hpp>

#include <gtest/gtest.h>

class ParameterTest : public ::testing::Test
{
public:
    void SetUp() override
    {
        param_reset_all();
    }
};


TEST_F(ParameterTest, testParamReadWrite)
{
    // GIVEN a parameter handle
    param_t param = param_handle(px4::params::CP_DIST);

    // WHEN: we get the parameter
    float value = -999.f;
    int status = param_get(param, &value);

    // THEN it should be successful and have the default value
    EXPECT_EQ(0, status);
    EXPECT_EQ(-1, value);

    // WHEN: we set the parameter
    value = 42.f;
    status = param_set(param, &value);

    // THEN: it should be successful
    EXPECT_EQ(0, status);

    // WHEN: we get the parameter again
    float value2 = -1999.f;
    status = param_get(param, &value2);

    // THEN: it should be exactly the value we set
    EXPECT_EQ(0, status);
    EXPECT_EQ(42.f, value2);
}


TEST_F(ParameterTest, testUorbSendReceive)
{
    // GIVEN: a uOrb message
    obstacle_distance_s message;
    memset(&message, 0xDEAD, sizeof(message));
    message.min_distance = 1.f;
    message.max_distance = 10.f;

    // AND: a subscriber
    uORB::SubscriptionData<obstacle_distance_s> sub_obstacle_distance{ORB_ID(obstacle_distance)};

    // WHEN we send the message
    orb_advert_t obstacle_distance_pub = orb_advertise(ORB_ID(obstacle_distance), &message);
    ASSERT_TRUE(obstacle_distance_pub != nullptr);

    // THEN: the subscriber should receive the message
    sub_obstacle_distance.update();
    const obstacle_distance_s &obstacle_distance = sub_obstacle_distance.get();

    // AND: the values we got should be the same
    EXPECT_EQ(message.timestamp, obstacle_distance.timestamp);
    EXPECT_EQ(message.min_distance, obstacle_distance.min_distance);
    EXPECT_EQ(message.max_distance, obstacle_distance.max_distance);

    // AND: all the bytes should be equal
    EXPECT_EQ(0, memcmp(&message, &obstacle_distance, sizeof(message)));
}