unit_test.h File Reference

#include <px4_platform_common/log.h>

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Classes
class	UnitTest
	Base class to be used for unit tests. More...

Macros
#define	ut_declare_test_c(test_function, test_class)
#define	ut_declare_test(test_function, test_class)
	Macro to create a function which will run a unit test class and print results. More...
#define	ut_run_test(test)
	Runs a single unit test. More...
#define	ut_assert(message, test)
	Used to assert a value within a unit test. More...
#define	ut_test(test)   ut_assert("test", test)
	Used to assert a value within a unit test. More...
#define	ut_assert_true(test)
	To assert specifically to true. More...
#define	ut_assert_false(test)
	To assert specifically to true. More...
#define	ut_compare(message, v1, v2)
	Used to compare two integer values within a unit test. More...
#define	ut_compare_float(message, v1, v2, precision)
	Used to compare two float values within a unit test. More...
#define	ut_less_than(message, v1_smaller, v2_bigger)
	Used to compare two integer values within a unit test. More...

Macro Definition Documentation

ut_assert

#define ut_assert	(		message,
			test
	)

Value:

do {                                    \
        if (!(test)) {                          \
            _print_assert(message, #test, __FILE__, __LINE__);  \
            return false;                       \
        } else {                            \
            _assertions++;                      \
        }                               \
    } while (0)

Used to assert a value within a unit test.

Definition at line 113 of file unit_test.h.

Referenced by MavlinkFtpTest::_burst_test(), SearchMinTest::_init_inputs(), SearchMinTest::_init_inputs_flipped(), SearchMinTest::_init_inputs_negative(), SearchMinTest::_init_tol_larger_than_range(), SearchMinTest::_init_tol_larger_than_range_flipped(), MavlinkFtpTest::_list_test(), SearchMinTest::_no_extremum(), MavlinkFtpTest::_read_test(), MavlinkFtpTest::_receive_message_handler_burst(), MavlinkFtpTest::_removedirectory_test(), MavlinkFtpTest::_removefile_test(), FloatTest::doublePrecisionTests(), ParameterTest::exportImport(), ParameterTest::exportImportAll(), IntTest::math3264MixedMathTests(), IntTest::math64bitTests(), FloatTest::singlePrecisionTests(), MathlibTest::testFinite(), MathlibTest::testMatrixNonsymmetric(), MathlibTest::testQuaternionfrom_dcm(), MathlibTest::testQuaternionfrom_euler(), MathlibTest::testQuaternionRotate(), and MathlibTest::testRotationMatrixQuaternion().

ut_assert_false

#define ut_assert_false

(

test

)

Value:

do {                                    \
        if ((test) != false) {                          \
            _print_assert("result not false", #test, __FILE__, __LINE__);   \
            return false;                       \
        } else {                            \
            _assertions++;                      \
        }                               \
    } while (0)

To assert specifically to true.

Definition at line 138 of file unit_test.h.

ut_assert_true

#define ut_assert_true

(

test

)

Value:

do {                                    \
        if ((test) != true) {                           \
            _print_assert("result not true", #test, __FILE__, __LINE__);    \
            return false;                       \
        } else {                            \
            _assertions++;                      \
        }                               \
    } while (0)

To assert specifically to true.

Definition at line 127 of file unit_test.h.

Referenced by BezierQuadTest::_get_arc_length(), BezierQuadTest::_get_states_from_time(), SmoothZTest::accelerateDownwardFromBrake(), SmoothZTest::accelerateUpwardFromBrake(), SmoothZTest::brakeDownward(), SmoothZTest::brakeUpward(), VersioningTest::run_tests(), ParameterTest::SimpleFind(), ListTest::test_add(), IntrusiveQueueTest::test_pop(), IntrusiveQueueTest::test_push(), IntrusiveQueueTest::test_push_duplicate(), ListTest::test_range_based_for(), IntrusiveQueueTest::test_remove(), ListTest::test_remove(), MathlibTest::testVector2(), and MathlibTest::testVector3().

ut_compare

#define ut_compare	(		message,
			v1,
			v2
	)

Value:

do {                                            \
        int _v1 = v1;                                   \
        int _v2 = v2;                                   \
        if (_v1 != _v2) {                               \
            _print_compare(message, #v1, _v1, #v2, _v2, __FILE__, __LINE__);    \
            return false;                               \
        } else {                                    \
            _assertions++;                              \
        }                                       \
    } while (0)

Used to compare two integer values within a unit test.

If possible use ut_compare instead of ut_assert since it will give you better error reporting of the actual values being compared.

Definition at line 150 of file unit_test.h.

Referenced by MavlinkFtpTest::_ack_test(), ParameterTest::_assert_parameter_float_value(), ParameterTest::_assert_parameter_int_value(), MavlinkFtpTest::_bad_datasize_test(), MavlinkFtpTest::_bad_opcode_test(), MavlinkFtpTest::_burst_test(), MavlinkFtpTest::_createdirectory_test(), MavlinkFtpTest::_decode_message(), MavlinkFtpTest::_list_eof_test(), MavlinkFtpTest::_list_test(), MavlinkFtpTest::_open_badfile_test(), MavlinkFtpTest::_open_terminate_test(), MavlinkFtpTest::_read_badsession_test(), MavlinkFtpTest::_read_test(), MavlinkFtpTest::_receive_message_handler_burst(), MavlinkFtpTest::_removedirectory_test(), MavlinkFtpTest::_removefile_test(), MavlinkFtpTest::_terminate_badsession_test(), StateMachineHelperTest::armingStateTransitionTest(), RCTest::crsfTest(), FloatTest::doublePrecisionTests(), RCTest::dsmTest(), ParameterTest::exportImport(), ParameterTest::exportImportAll(), StateMachineHelperTest::isSafeTest(), MixerTest::load_mixer(), StateMachineHelperTest::mainStateTransitionTest(), ParameterTest::SimpleFind(), FloatTest::singlePrecisionTests(), ListTest::test_add(), IntrusiveQueueTest::test_pop(), IntrusiveQueueTest::test_push(), IntrusiveQueueTest::test_push_duplicate(), ListTest::test_range_based_for(), IntrusiveQueueTest::test_remove(), and ListTest::test_remove().

ut_compare_float

#define ut_compare_float	(		message,
			v1,
			v2,
			precision
	)

Value:

do {                                            \
        int _p = powf(10.0f, precision);                        \
        int _v1 = (int)(v1 * _p + 0.5f);                        \
        int _v2 = (int)(v2 * _p + 0.5f);                        \
        if (_v1 != _v2) {                               \
            _print_compare(message, #v1, _v1, #v2, _v2, __FILE__, __LINE__);    \
            return false;                               \
        } else {                                    \
            _assertions++;                              \
        }                                       \
    } while (0)

Used to compare two float values within a unit test.

If possible use ut_compare_float instead of ut_assert since it will give you better error reporting of the actual values being compared.

Definition at line 164 of file unit_test.h.

Referenced by ParameterTest::_assert_parameter_float_value(), BezierQuadTest::_get_states_from_time(), BezierQuadTest::_set_bez_from_vel(), AutoDeclinationTest::autodeclination_check(), and ParameterTest::exportImport().

ut_declare_test

#define ut_declare_test	(		test_function,
			test_class
	)

Value:

bool test_function(void)            \
    {                       \
        test_class* test = new test_class();    \
        bool success = test->run_tests();   \
        test->print_results();          \
        delete test;                \
        return success;             \
    }

Macro to create a function which will run a unit test class and print results.

Definition at line 82 of file unit_test.h.

Referenced by MavlinkFtpTest::run_tests(), and StateMachineHelperTest::run_tests().

ut_declare_test_c

#define ut_declare_test_c	(		test_function,
			test_class
	)

Value:

extern "C" {                                        \
        int test_function(int argc, char *argv[]);      \
        int test_function(int argc, char *argv[])       \
        {                                               \
            test_class* test = new test_class();        \
            bool success = test->run_tests();           \
            test->print_results();                      \
            delete test;                                              \
            return success ? 0 : -1;                    \
        }                                               \
    }

Definition at line 40 of file unit_test.h.

Referenced by SearchMinTest::_no_extremum(), SmoothZTest::accelerateDownwardFromBrake(), BezierQuadTest::random(), MatrixTest::run_tests(), ParameterTest::run_tests(), AutoDeclinationTest::run_tests(), FloatTest::run_tests(), IntTest::run_tests(), MathlibTest::run_tests(), SF0XTest::sf0xTest(), RCTest::sumdTest(), ListTest::test_range_based_for(), and IntrusiveQueueTest::test_remove().

ut_less_than

#define ut_less_than	(		message,
			v1_smaller,
			v2_bigger
	)

Value:

do {                                            \
        int _v1 = v1_smaller;                           \
        int _v2 = v2_bigger;                            \
        if (!(_v1 < _v2)) {                             \
            _print_compare(message, #v1_smaller, _v1, #v2_bigger, _v2, __FILE__, __LINE__); \
            return false;                               \
        } else {                                    \
            _assertions++;                              \
        }                                       \
    } while (0)

Used to compare two integer values within a unit test.

If possible use ut_less_than instead of ut_assert since it will give you better error reporting of the actual values being compared.

Definition at line 179 of file unit_test.h.

ut_run_test

#define ut_run_test

(

test

)

Value:

do {                            \
        PX4_INFO("RUNNING TEST: %s", #test);        \
        _tests_run++;                   \
        _init();                        \
        if (!test()) {                  \
            PX4_ERR("TEST FAILED: %s", #test);  \
            _tests_failed++;            \
        } else {                    \
            PX4_INFO("TEST PASSED: %s", #test); \
            _tests_passed++;            \
        }                       \
        _cleanup();                 \
        printf("\n");               \
    } while (0)

Runs a single unit test.

Unit tests must have the function signature of bool test(void). The unit test should return true if it succeeded, false for fail.

Definition at line 96 of file unit_test.h.

Referenced by SF0XTest::run_tests(), RCTest::run_tests(), SmoothZTest::run_tests(), IntrusiveQueueTest::run_tests(), MavlinkFtpTest::run_tests(), BezierQuadTest::run_tests(), MatrixTest::run_tests(), ParameterTest::run_tests(), ListTest::run_tests(), StateMachineHelperTest::run_tests(), AutoDeclinationTest::run_tests(), FloatTest::run_tests(), IntTest::run_tests(), SearchMinTest::run_tests(), MathlibTest::run_tests(), MicroBenchHRT::MicroBenchHRT::run_tests(), MicroBenchMath::MicroBenchMath::run_tests(), MicroBenchMatrix::MicroBenchMatrix::run_tests(), MixerTest::run_tests(), and MicroBenchORB::MicroBenchORB::run_tests().

ut_test

#define ut_test

(

test

)

ut_assert("test", test)

Used to assert a value within a unit test.

Definition at line 124 of file unit_test.h.

Referenced by RCTest::crsfTest(), MatrixTest::dcmRenormTests(), RCTest::dsmTest(), MatrixTest::filterTests(), MatrixTest::helperTests(), MatrixTest::integrationTests(), MatrixTest::inverseTests(), MatrixTest::matrixAssignmentTests(), MatrixTest::matrixMultTests(), MatrixTest::matrixScalarMultTests(), MatrixTest::pseudoInverseTests(), MatrixTest::run_tests(), RCTest::sbus2Test(), MatrixTest::setIdentityTests(), SF0XTest::sf0xTest(), MatrixTest::sliceTests(), MatrixTest::squareMatrixTests(), RCTest::st24Test(), RCTest::sumdTest(), MatrixTest::transposeTests(), MatrixTest::vector2Tests(), MatrixTest::vector3Tests(), MatrixTest::vectorAssignmentTests(), and MatrixTest::vectorTests().