MixerTest Class Reference

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Public Member Functions
virtual bool	run_tests ()
	Override to run your unit tests. More...
	MixerTest ()=default
Public Member Functions inherited from UnitTest
	UnitTest ()=default
virtual	~UnitTest ()=default
void	print_results ()
	Prints results from running of unit tests. More...

Private Member Functions
bool	mixerTest ()
bool	loadIOPass ()
bool	loadVTOL1Test ()
bool	loadVTOL2Test ()
bool	loadQuadTest ()
bool	loadComplexTest ()
bool	loadAllTest ()
bool	load_mixer (const char *filename, unsigned expected_count, bool verbose=false)
bool	load_mixer (const char *filename, const char *buf, unsigned loaded, unsigned expected_count, const unsigned chunk_size, bool verbose)

Private Attributes
MixerGroup	mixer_group

Additional Inherited Members
Protected Member Functions inherited from UnitTest
virtual void	_init (void)
	Run before each unit test. Override to provide custom behavior. More...
virtual void	_cleanup (void)
	Run after each unit test. Override to provide custom behavior. More...
void	_print_assert (const char *msg, const char *test, const char *file, int line)
void	_print_compare (const char *msg, const char *v1_text, int v1, const char *v2_text, int v2, const char *file, int line)
Protected Attributes inherited from UnitTest
int	_tests_run {0}
	The number of individual unit tests run. More...
int	_tests_failed {0}
	The number of unit tests which failed. More...
int	_tests_passed {0}
	The number of unit tests which passed. More...
int	_assertions {0}
	Total number of assertions tested by all unit tests. More...

Detailed Description

Definition at line 94 of file test_mixer.cpp.

Constructor & Destructor Documentation

MixerTest()

MixerTest::MixerTest ( )

default

Member Function Documentation

load_mixer() [1/2]

bool MixerTest::load_mixer ( const char *  filename, unsigned  expected_count, bool  verbose = false  )

private

Definition at line 224 of file test_mixer.cpp.

References load_mixer_file(), and PX4IO_MAX_TRANSFER_LEN.

Referenced by loadAllTest(), loadComplexTest(), loadQuadTest(), loadVTOL1Test(), loadVTOL2Test(), mixerTest(), and ut_declare_test_c().

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load_mixer() [2/2]

bool MixerTest::load_mixer ( const char *  filename, const char *  buf, unsigned  loaded, unsigned  expected_count, const unsigned  chunk_size, bool  verbose  )

private

Definition at line 248 of file test_mixer.cpp.

References MixerGroup::count(), MixerGroup::load_from_buf(), mixer_callback(), mixer_group, mixer_text, mixer_text_length, PX4IO_MAX_MIXER_LENGTH, MixerGroup::reset(), and ut_compare.

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loadAllTest()

bool MixerTest::loadAllTest ( )

private

Definition at line 155 of file test_mixer.cpp.

References load_mixer(), MIXER_ONBOARD_PATH, and PATH_MAX.

Referenced by run_tests().

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loadComplexTest()

bool MixerTest::loadComplexTest ( )

private

Definition at line 150 of file test_mixer.cpp.

References load_mixer(), and MIXER_PATH.

Referenced by run_tests().

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loadIOPass()

bool MixerTest::loadIOPass ( )

private

Referenced by run_tests().

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loadQuadTest()

bool MixerTest::loadQuadTest ( )

private

Definition at line 135 of file test_mixer.cpp.

References load_mixer(), and MIXER_PATH.

Referenced by run_tests().

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loadVTOL1Test()

bool MixerTest::loadVTOL1Test ( )

private

Definition at line 140 of file test_mixer.cpp.

References load_mixer(), and MIXER_PATH.

Referenced by run_tests().

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loadVTOL2Test()

bool MixerTest::loadVTOL2Test ( )

private

Definition at line 145 of file test_mixer.cpp.

References load_mixer(), and MIXER_PATH.

Referenced by run_tests().

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mixerTest()

bool MixerTest::mixerTest ( )

private

Definition at line 341 of file test_mixer.cpp.

References matrix::abs(), actuator_controls, f(), hrt_absolute_time(), hrt_abstime, hrt_elapsed_time(), INIT_TIME_US, load_mixer(), MixerGroup::mix(), MIXER_DIFFERENCE_THRESHOLD, mixer_group, MIXER_PATH, output_limit_calc(), output_limit_init(), output_max, PWM_DEFAULT_MAX, PWM_DEFAULT_MIN, PWM_LOWEST_MIN, PWM_MOTOR_OFF, r_page_servo_control_max, r_page_servo_control_min, r_page_servo_disarmed, r_page_servos, RAMP_TIME_US, should_arm, and should_prearm.

Referenced by run_tests().

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run_tests()

bool MixerTest::run_tests ( )

virtual

Override to run your unit tests.

Unit tests should be called using ut_run_test macro.

Returns

true: all unit tests succeeded, false: one or more unit tests failed

Implements UnitTest.

Definition at line 115 of file test_mixer.cpp.

References UnitTest::_tests_failed, loadAllTest(), loadComplexTest(), loadIOPass(), loadQuadTest(), loadVTOL1Test(), loadVTOL2Test(), mixerTest(), and ut_run_test.

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Member Data Documentation

mixer_group

MixerGroup MixerTest::mixer_group

private

Definition at line 112 of file test_mixer.cpp.

Referenced by load_mixer(), and mixerTest().

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The documentation for this class was generated from the following file:

• src/systemcmds/tests/test_mixer.cpp