src/test/unit/pg_unittest.cc

   1 /*
   2  * This file is part of Cleanflight.
   3  *
   4  * Cleanflight is free software: you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation, either version 3 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * Cleanflight is distributed in the hope that it will be useful,
  10  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12  * GNU General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License
  15  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  16  */
  17
  18 #include <stdbool.h>
  19 #include <stdint.h>
  20 #include <string.h>
  21
  22 #include <limits.h>
  23
  24 extern "C" {
  25     #include <platform.h>
  26     #include "build/debug.h"
  27     #include "pg/pg.h"
  28     #include "pg/pg_ids.h"
  29     #include "pg/motor.h"
  30
  31     #include "flight/mixer.h"
  32
  33 //PG_DECLARE(motorConfig_t, motorConfig);
  34
  35 PG_REGISTER_WITH_RESET_TEMPLATE(motorConfig_t, motorConfig, PG_MOTOR_CONFIG, 1);
  36
  37 PG_RESET_TEMPLATE(motorConfig_t, motorConfig,
  38     .minthrottle = 1150,
  39     .maxthrottle = 1850,
  40     .mincommand = 1000,
  41     .dev = {.motorPwmRate = 400}
  42 );
  43 }
  44
  45
  46 #include "unittest_macros.h"
  47 #include "gtest/gtest.h"
  48
  49 TEST(ParameterGroupsfTest, Test_pgResetAll)
  50 {
  51     memset(motorConfigMutable(), 0, sizeof(motorConfig_t));
  52     pgResetAll();
  53     EXPECT_EQ(1150, motorConfig()->minthrottle);
  54     EXPECT_EQ(1850, motorConfig()->maxthrottle);
  55     EXPECT_EQ(1000, motorConfig()->mincommand);
  56     EXPECT_EQ(400, motorConfig()->dev.motorPwmRate);
  57 }
  58
  59 TEST(ParameterGroupsfTest, Test_pgFind)
  60 {
  61     memset(motorConfigMutable(), 0, sizeof(motorConfig_t));
  62     const pgRegistry_t *pgRegistry = pgFind(PG_MOTOR_CONFIG);
  63     pgReset(pgRegistry);
  64     EXPECT_EQ(1150, motorConfig()->minthrottle);
  65     EXPECT_EQ(1850, motorConfig()->maxthrottle);
  66     EXPECT_EQ(1000, motorConfig()->mincommand);
  67     EXPECT_EQ(400, motorConfig()->dev.motorPwmRate);
  68
  69     motorConfig_t motorConfig2;
  70     memset(&motorConfig2, 0, sizeof(motorConfig_t));
  71     motorConfigMutable()->dev.motorPwmRate = 500;
  72     pgStore(pgRegistry, &motorConfig2, sizeof(motorConfig_t));
  73     EXPECT_EQ(1150, motorConfig2.minthrottle);
  74     EXPECT_EQ(1850, motorConfig2.maxthrottle);
  75     EXPECT_EQ(1000, motorConfig2.mincommand);
  76     EXPECT_EQ(500, motorConfig2.dev.motorPwmRate);
  77
  78     motorConfig_t motorConfig3;
  79     memset(&motorConfig3, 0, sizeof(motorConfig_t));
  80     pgResetCopy(&motorConfig3, PG_MOTOR_CONFIG);
  81     EXPECT_EQ(1150, motorConfig3.minthrottle);
  82     EXPECT_EQ(1850, motorConfig3.maxthrottle);
  83     EXPECT_EQ(1000, motorConfig3.mincommand);
  84     EXPECT_EQ(400, motorConfig3.dev.motorPwmRate);
  85 }
  86
  87 // STUBS
  88
  89 extern "C" {
  90 }