unit_test.h

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 *
 *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
 *   Author: Simon Wilks <sjwilks@gmail.com>
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#ifndef UNIT_TEST_H_
#define UNIT_TEST_H_

#include <px4_platform_common/log.h>

#define ut_declare_test_c(test_function, test_class)    \
    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;                    \
        }                                               \
    }

/// @brief Base class to be used for unit tests.
class __EXPORT UnitTest
{
public:

    UnitTest() = default;
    virtual ~UnitTest() = default;

    /// @brief Override to run your unit tests. Unit tests should be called using ut_run_test macro.
    /// @return true: all unit tests succeeded, false: one or more unit tests failed
    virtual bool run_tests(void) = 0;

    /// @brief Prints results from running of unit tests.
    void print_results()
    {
        if (_tests_failed) {
            PX4_ERR("SOME TESTS FAILED");

        } else {
            PX4_INFO("ALL TESTS PASSED");
        }

        PX4_INFO("  Tests passed :      %d", _tests_passed);
        PX4_INFO("  Tests failed :      %d", _tests_failed);
        PX4_INFO("  Tested assertions : %d", _assertions);
    }


/// @brief Macro to create a function which will run a unit test class and print results.
#define ut_declare_test(test_function, test_class)  \
    bool test_function(void)            \
    {                       \
        test_class* test = new test_class();    \
        bool success = test->run_tests();   \
        test->print_results();          \
        delete test;                \
        return success;             \
    }

protected:

/// @brief 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.
#define ut_run_test(test)                   \
    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)

/// @brief Used to assert a value within a unit test.
#define ut_assert(message, test)                        \
    do {                                    \
        if (!(test)) {                          \
            _print_assert(message, #test, __FILE__, __LINE__);  \
            return false;                       \
        } else {                            \
            _assertions++;                      \
        }                               \
    } while (0)

/// @brief Used to assert a value within a unit test.
#define ut_test(test) ut_assert("test", test)

/// @brief To assert specifically to true.
#define ut_assert_true(test)                        \
    do {                                    \
        if ((test) != true) {                           \
            _print_assert("result not true", #test, __FILE__, __LINE__);    \
            return false;                       \
        } else {                            \
            _assertions++;                      \
        }                               \
    } while (0)

/// @brief To assert specifically to true.
#define ut_assert_false(test)                       \
    do {                                    \
        if ((test) != false) {                          \
            _print_assert("result not false", #test, __FILE__, __LINE__);   \
            return false;                       \
        } else {                            \
            _assertions++;                      \
        }                               \
    } while (0)

/// @brief 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.
#define ut_compare(message, v1, v2)                             \
    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)

/// @brief 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.
#define ut_compare_float(message, v1, v2, precision)                        \
    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)

/// @brief 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.
#define ut_less_than(message, v1_smaller, v2_bigger)                                \
    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)

    virtual void _init(void) {}     ///< Run before each unit test. Override to provide custom behavior.
    virtual void _cleanup(void) {}      ///< Run after each unit test. Override to provide custom behavior.

    void _print_assert(const char *msg, const char *test, const char *file, int line)
    {
        PX4_ERR("Assertion failed: %s - %s (%s:%d)", msg, test, file, line);
    }

    void _print_compare(const char *msg, const char *v1_text, int v1, const char *v2_text, int v2, const char *file,
                int line)
    {
        PX4_ERR("Compare failed: %s - (%s:%d) (%s:%d) (%s:%d)", msg, v1_text, v1, v2_text, v2, file, line);
    }

    int _tests_run{0};      ///< The number of individual unit tests run
    int _tests_failed{0};   ///< The number of unit tests which failed
    int _tests_passed{0};   ///< The number of unit tests which passed
    int _assertions{0}; ///< Total number of assertions tested by all unit tests
};

#endif /* UNIT_TEST_H_ */