src/test/unit/motor_output_unittest.cc

   1 /*
   2  * This file is part of Betaflight.
   3  *
   4  * Cleanflight and Betaflight are free software. You can redistribute
   5  * this software and/or modify this software under the terms of the
   6  * GNU General Public License as published by the Free Software
   7  * Foundation, either version 3 of the License, or (at your option)
   8  * any later version.
   9  *
  10  * Cleanflight and Betaflight are distributed in the hope that they
  11  * will be useful, but WITHOUT ANY WARRANTY; without even the implied
  12  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  13  * See the GNU General Public License for more details.
  14  *
  15  * You should have received a copy of the GNU General Public License
  16  * along with this software.
  17  *
  18  * If not, see <http://www.gnu.org/licenses/>.
  19  */
  20
  21 #include <stdint.h>
  22 #include <iostream>
  23
  24 extern "C" {
  25 #include "drivers/dshot.h"
  26 #include "build/atomic.h"
  27 }
  28
  29 #include "unittest_macros.h"
  30 #include "gtest/gtest.h"
  31
  32 extern "C" {
  33
  34 bool featureIsEnabled(uint8_t f);
  35 float scaleRangef(float a, float b, float c, float d, float e);
  36
  37 // Mocking functions
  38
  39 bool featureIsEnabled(uint8_t f)
  40 {
  41     UNUSED(f);
  42     return true;
  43 }
  44
  45 float scaleRangef(float a, float b, float c, float d, float e)
  46 {
  47     UNUSED(a);
  48     UNUSED(b);
  49     UNUSED(c);
  50     UNUSED(d);
  51     UNUSED(e);
  52     return 0;
  53 }
  54
  55 }
  56
  57 // Tests
  58
  59 TEST(MotorOutputUnittest, TestFixMotorOutputReordering)
  60 {
  61     const unsigned size = 8;
  62
  63     uint8_t  a1_initial[size] = {0, 1, 2, 3, 4, 5, 6, 7};
  64     uint8_t a1_expected[size] = {0, 1, 2, 3, 4, 5, 6, 7};
  65     validateAndfixMotorOutputReordering(a1_initial, size);
  66     EXPECT_TRUE( 0 == memcmp(a1_expected, a1_initial, sizeof(a1_expected)));
  67
  68     uint8_t  a2_initial[size] = {3, 2, 1, 4, 5, 6, 7, 0};
  69     uint8_t a2_expected[size] = {3, 2, 1, 4, 5, 6, 7, 0};
  70     validateAndfixMotorOutputReordering(a2_initial, size);
  71     EXPECT_TRUE( 0 == memcmp(a2_expected, a2_initial, sizeof(a2_expected)));
  72
  73     uint8_t  a3_initial[size] = {3, 2, 1, 100, 5, 6, 7, 0};
  74     uint8_t a3_expected[size] = {0, 1, 2, 3, 4, 5, 6, 7};
  75     validateAndfixMotorOutputReordering(a3_initial, size);
  76     EXPECT_TRUE( 0 == memcmp(a3_expected, a3_initial, sizeof(a3_expected)));
  77
  78     uint8_t  a4_initial[size] = {3, 2, 1, 100, 5, 6, 200, 0};
  79     uint8_t a4_expected[size] = {0, 1, 2, 3, 4, 5, 6, 7};
  80     validateAndfixMotorOutputReordering(a4_initial, size);
  81     EXPECT_TRUE( 0 == memcmp(a4_expected, a4_initial, sizeof(a4_expected)));
  82
  83     uint8_t  a5_initial[size] = {0, 0, 0, 0, 0, 0, 0, 0};
  84     uint8_t a5_expected[size] = {0, 1, 2, 3, 4, 5, 6, 7};
  85     validateAndfixMotorOutputReordering(a5_initial, size);
  86     EXPECT_TRUE( 0 == memcmp(a5_expected, a5_initial, sizeof(a5_expected)));
  87
  88     uint8_t  a6_initial[size] = {0, 0, 0, 1, 0, 99, 0, 0};
  89     uint8_t a6_expected[size] = {0, 1, 2, 3, 4, 5, 6, 7};
  90     validateAndfixMotorOutputReordering(a6_initial, size);
  91     EXPECT_TRUE( 0 == memcmp(a6_expected, a6_initial, sizeof(a5_expected)));
  92
  93     uint8_t  a7_initial[size] = {1, 5, 3, 4, 5, 6, 7, 0};
  94     uint8_t a7_expected[size] = {0, 1, 2, 3, 4, 5, 6, 7};
  95     validateAndfixMotorOutputReordering(a7_initial, size);
  96     EXPECT_TRUE( 0 == memcmp(a7_expected, a7_initial, sizeof(a7_expected)));
  97
  98     uint8_t  a8_initial[size] = {1, 5, 1, 5, 3, 3, 3, 3};
  99     uint8_t a8_expected[size] = {0, 1, 2, 3, 4, 5, 6, 7};
 100     validateAndfixMotorOutputReordering(a8_initial, size);
 101     EXPECT_TRUE( 0 == memcmp(a8_expected, a8_initial, sizeof(a8_expected)));
 102
 103     uint8_t  a9_initial[size] = {7, 6, 5, 4, 3, 2, 1, 0};
 104     uint8_t a9_expected[size] = {7, 6, 5, 4, 3, 2, 1, 0};
 105     validateAndfixMotorOutputReordering(a9_initial, size);
 106     EXPECT_TRUE( 0 == memcmp(a9_expected, a9_initial, sizeof(a9_expected)));
 107 }