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     .dev = {.motorPwmRate = 400},
  39     .maxthrottle = 1850,
  40     .mincommand = 1000,
  41 );
  42 }
  43
  44
  45 #include "unittest_macros.h"
  46 #include "gtest/gtest.h"
  47
  48 TEST(ParameterGroupsfTest, Test_pgResetAll)
  49 {
  50     memset(motorConfigMutable(), 0, sizeof(motorConfig_t));
  51     pgResetAll();
  52     EXPECT_EQ(1850, motorConfig()->maxthrottle);
  53     EXPECT_EQ(1000, motorConfig()->mincommand);
  54     EXPECT_EQ(400, motorConfig()->dev.motorPwmRate);
  55 }
  56
  57 TEST(ParameterGroupsfTest, Test_pgFind)
  58 {
  59     memset(motorConfigMutable(), 0, sizeof(motorConfig_t));
  60     const pgRegistry_t *pgRegistry = pgFind(PG_MOTOR_CONFIG);
  61     pgReset(pgRegistry);
  62     EXPECT_EQ(1850, motorConfig()->maxthrottle);
  63     EXPECT_EQ(1000, motorConfig()->mincommand);
  64     EXPECT_EQ(400, motorConfig()->dev.motorPwmRate);
  65
  66     motorConfig_t motorConfig2;
  67     memset(&motorConfig2, 0, sizeof(motorConfig_t));
  68     motorConfigMutable()->dev.motorPwmRate = 500;
  69     pgStore(pgRegistry, &motorConfig2, sizeof(motorConfig_t));
  70     EXPECT_EQ(1850, motorConfig2.maxthrottle);
  71     EXPECT_EQ(1000, motorConfig2.mincommand);
  72     EXPECT_EQ(500, motorConfig2.dev.motorPwmRate);
  73
  74     motorConfig_t motorConfig3;
  75     memset(&motorConfig3, 0, sizeof(motorConfig_t));
  76     pgResetCopy(&motorConfig3, PG_MOTOR_CONFIG);
  77     EXPECT_EQ(1850, motorConfig3.maxthrottle);
  78     EXPECT_EQ(1000, motorConfig3.mincommand);
  79     EXPECT_EQ(400, motorConfig3.dev.motorPwmRate);
  80 }
  81
  82 // STUBS
  83
  84 extern "C" {
  85 }