flight/tests/lednotification/unittest.cpp

   1 #include "gtest/gtest.h"
   2
   3 #include <stdio.h> /* printf */
   4 #include <stdlib.h> /* abort */
   5 #include <string.h> /* memset */
   6
   7 extern "C" {
   8 #define xTaskGetTickCount() 1
   9 #define portTICK_RATE_MS 1
  10
  11 #include "lednotification.c"
  12
  13 void PIOS_WS2811_setColorRGB(__attribute__((unused)) Color_t c, __attribute__((unused)) uint8_t led, __attribute__((unused)) bool update) {}
  14 void PIOS_WS2811_Update() {}
  15 }
  16
  17 class LedNotificationTest : public testing::Test {};
  18
  19 int compare_int8(const void *a, const void *b)
  20 {
  21     const int8_t *da = (const int8_t *)a;
  22     const int8_t *db = (const int8_t *)b;
  23
  24     return (*da > *db) - (*da < *db);
  25 }
  26
  27
  28 void sort_priorities(int8_t *queued_priorities)
  29 {
  30     qsort(queued_priorities, MAX_BACKGROUND_NOTIFICATIONS, sizeof(int8_t), compare_int8);
  31 }
  32
  33 void set_highest_active(NotifierLedStatus_t *status)
  34 {
  35     int8_t highest = NOTIFY_PRIORITY_BACKGROUND;
  36
  37     for (int i = 0; i < MAX_BACKGROUND_NOTIFICATIONS; i++) {
  38         if (status->queued_priorities[i] > highest) {
  39             status->active_sequence_num = i;
  40             highest = status->queued_priorities[i];
  41         }
  42     }
  43 }
  44
  45 void insert(NotifierLedStatus_t *status, pios_notify_priority priority)
  46 {
  47     ExtLedNotification_t notification;
  48
  49     notification.priority = priority;
  50     push_queued_sequence(&notification, status);
  51 }
  52
  53 void init(NotifierLedStatus_t *status, pios_notify_priority priority)
  54 {
  55     for (uint8_t i = 0; i < MAX_BACKGROUND_NOTIFICATIONS; i++) {
  56         status->queued_priorities[i] = priority;
  57     }
  58 }
  59
  60 TEST_F(LedNotificationTest, TestQueueOrder1) {
  61     NotifierLedStatus_t status;
  62
  63     init(&status, NOTIFY_PRIORITY_BACKGROUND);
  64
  65     insert(&status, NOTIFY_PRIORITY_LOW);
  66     insert(&status, NOTIFY_PRIORITY_CRITICAL);
  67     insert(&status, NOTIFY_PRIORITY_LOW);
  68     insert(&status, NOTIFY_PRIORITY_CRITICAL);
  69
  70     set_highest_active(&status);
  71
  72
  73     EXPECT_EQ(NOTIFY_PRIORITY_CRITICAL, (status.queued_priorities[status.active_sequence_num]));
  74     pop_queued_sequence(&status);
  75     EXPECT_EQ(NOTIFY_PRIORITY_CRITICAL, (status.queued_priorities[status.active_sequence_num]));
  76     pop_queued_sequence(&status);
  77     EXPECT_EQ(NOTIFY_PRIORITY_LOW, (status.queued_priorities[status.active_sequence_num]));
  78     pop_queued_sequence(&status);
  79     EXPECT_EQ(NOTIFY_PRIORITY_LOW, (status.queued_priorities[status.active_sequence_num]));
  80     pop_queued_sequence(&status);
  81     EXPECT_EQ(NOTIFY_PRIORITY_BACKGROUND, (status.queued_priorities[status.active_sequence_num]));
  82 }
  83
  84 TEST_F(LedNotificationTest, TestQueueOrder2) {
  85     NotifierLedStatus_t status;
  86
  87 // Fails because insert_point and first_point will both be -1. This will also cause an array-out-of bounds at:
  88 // 146            status->queued_priorities[insert_point] = new_notification->priority;
  89 // 147            status->queued_sequences[insert_point]  = new_notification->sequence;
  90 // 148            updated_sequence = insert_point;
  91
  92     init(&status, NOTIFY_PRIORITY_LOW);
  93     status.queued_priorities[0] = NOTIFY_PRIORITY_BACKGROUND;
  94
  95     insert(&status, NOTIFY_PRIORITY_REGULAR);
  96
  97     set_highest_active(&status);
  98
  99     EXPECT_EQ(NOTIFY_PRIORITY_REGULAR, (status.queued_priorities[status.active_sequence_num]));
 100     pop_queued_sequence(&status);
 101     EXPECT_EQ(NOTIFY_PRIORITY_LOW, (status.queued_priorities[status.active_sequence_num]));
 102     pop_queued_sequence(&status);
 103     EXPECT_EQ(NOTIFY_PRIORITY_LOW, (status.queued_priorities[status.active_sequence_num]));
 104     pop_queued_sequence(&status);
 105     EXPECT_EQ(NOTIFY_PRIORITY_LOW, (status.queued_priorities[status.active_sequence_num]));
 106     pop_queued_sequence(&status);
 107     EXPECT_EQ(NOTIFY_PRIORITY_LOW, (status.queued_priorities[status.active_sequence_num]));
 108     pop_queued_sequence(&status);
 109     EXPECT_EQ(NOTIFY_PRIORITY_BACKGROUND, (status.queued_priorities[status.active_sequence_num]));
 110 }
 111
 112 TEST_F(LedNotificationTest, TestQueueOrder3) {
 113     NotifierLedStatus_t status;
 114
 115     // Fails because queued_priorities[0] _LOW and not _REGULAR. I _thibnk_ this is a bug.
 116     init(&status, NOTIFY_PRIORITY_REGULAR);
 117     status.queued_priorities[0] = NOTIFY_PRIORITY_BACKGROUND;
 118
 119     insert(&status, NOTIFY_PRIORITY_LOW);
 120
 121     set_highest_active(&status);
 122
 123
 124     for (uint8_t i = 0; i < MAX_BACKGROUND_NOTIFICATIONS - 1; i++) {
 125         EXPECT_EQ(NOTIFY_PRIORITY_REGULAR, (status.queued_priorities[status.active_sequence_num]));
 126         pop_queued_sequence(&status);
 127     }
 128 }
 129
 130 TEST_F(LedNotificationTest, TestQueueOrder4) {
 131     NotifierLedStatus_t status;
 132
 133     init(&status, NOTIFY_PRIORITY_BACKGROUND);
 134
 135     insert(&status, NOTIFY_PRIORITY_REGULAR);
 136     insert(&status, NOTIFY_PRIORITY_REGULAR);
 137     insert(&status, NOTIFY_PRIORITY_REGULAR);
 138     insert(&status, NOTIFY_PRIORITY_LOW);
 139
 140     set_highest_active(&status);
 141
 142     EXPECT_EQ(NOTIFY_PRIORITY_REGULAR, (status.queued_priorities[status.active_sequence_num]));
 143     pop_queued_sequence(&status);
 144     EXPECT_EQ(NOTIFY_PRIORITY_REGULAR, (status.queued_priorities[status.active_sequence_num]));
 145     pop_queued_sequence(&status);
 146     EXPECT_EQ(NOTIFY_PRIORITY_REGULAR, (status.queued_priorities[status.active_sequence_num]));
 147     pop_queued_sequence(&status);
 148     EXPECT_EQ(NOTIFY_PRIORITY_LOW, (status.queued_priorities[status.active_sequence_num]));
 149     pop_queued_sequence(&status);
 150     EXPECT_EQ(NOTIFY_PRIORITY_BACKGROUND, (status.queued_priorities[status.active_sequence_num]));
 151     pop_queued_sequence(&status);
 152     EXPECT_EQ(NOTIFY_PRIORITY_BACKGROUND, (status.queued_priorities[status.active_sequence_num]));
 153 }