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Various fixes for gtests that were shown when running tests in random… (#3978)

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* Various fixes for gtests that were shown when running tests in random sequence. Enabled random gtests shuffling in commit tests.

* 9X gtests fixes

* more gtests fixes

* even more gtests fixes

* Another round of gtests fixes

* Code deduplication with test fixtures

* More fixtures
This commit is contained in:
Damjan Adamic
2016-11-02 22:03:44 +01:00
committed by Bertrand Songis
parent dfc81cecad
commit d2144001d1
6 changed files with 137 additions and 136 deletions
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radio/src/tests/mixer.cpp
+76 -111
View File
@@ -20,6 +20,9 @@
#include "gtests.h"
class TrimsTest : public OpenTxTest {};
class MixerTest : public OpenTxTest {};
#define CHECK_NO_MOVEMENT(channel, value, duration) \
for (int i=1; i<=(duration); i++) { \
evalFlightModeMixes(e_perout_mode_normal, 1); \
@@ -44,11 +47,8 @@
} \
} while (0)
TEST(Trims, throttleTrim)
TEST_F(TrimsTest, throttleTrim)
{
SYSTEM_RESET();
MODEL_RESET();
modelDefault(0);
g_model.thrTrim = 1;
// stick max + trim max
anaInValues[THR_STICK] = +1024;
@@ -106,10 +106,8 @@ TEST(Trims, throttleTrim)
}
TEST(Trims, invertedThrottlePlusThrottleTrim)
TEST_F(TrimsTest, invertedThrottlePlusThrottleTrim)
{
MODEL_RESET();
modelDefault(0);
g_model.throttleReversed = 1;
g_model.thrTrim = 1;
// stick max + trim max
@@ -167,10 +165,8 @@ TEST(Trims, invertedThrottlePlusThrottleTrim)
EXPECT_EQ(channelOutputs[2], +1024);
}
TEST(Trims, throttleTrimWithZeroWeightOnThrottle)
TEST_F(TrimsTest, throttleTrimWithZeroWeightOnThrottle)
{
MODEL_RESET();
modelDefault(0);
g_model.thrTrim = 1;
#if defined(VIRTUAL_INPUTS)
// the input already exists
@@ -245,10 +241,8 @@ TEST(Trims, throttleTrimWithZeroWeightOnThrottle)
EXPECT_EQ(channelOutputs[2], 1000);
}
TEST(Trims, invertedThrottlePlusthrottleTrimWithZeroWeightOnThrottle)
TEST_F(TrimsTest, invertedThrottlePlusthrottleTrimWithZeroWeightOnThrottle)
{
MODEL_RESET();
modelDefault(0);
g_model.throttleReversed = 1;
g_model.thrTrim = 1;
#if defined(VIRTUAL_INPUTS)
@@ -325,26 +319,23 @@ TEST(Trims, invertedThrottlePlusthrottleTrimWithZeroWeightOnThrottle)
}
#if !defined(VIRTUAL_INPUTS)
TEST(Trims, greaterTrimLink)
TEST_F(TrimsTest, greaterTrimLink)
{
MODEL_RESET();
setTrimValue(1, RUD_STICK, TRIM_EXTENDED_MAX+3); // link to FP3 trim
setTrimValue(3, RUD_STICK, 32);
EXPECT_EQ(getRawTrimValue(getTrimFlightMode(1, RUD_STICK), RUD_STICK), 32);
}
TEST(Trims, chainedTrims)
TEST_F(TrimsTest, chainedTrims)
{
MODEL_RESET();
setTrimValue(0, RUD_STICK, 32);
setTrimValue(1, RUD_STICK, TRIM_EXTENDED_MAX+1); // link to FP0 trim
setTrimValue(2, RUD_STICK, TRIM_EXTENDED_MAX+2); // link to FP1 trim
EXPECT_EQ(getRawTrimValue(getTrimFlightMode(0, RUD_STICK), RUD_STICK), 32);
}
TEST(Trims, infiniteChainedTrims)
TTEST_F(TrimsTest, infiniteChainedTrims)
{
MODEL_RESET();
setTrimValue(0, RUD_STICK, 32);
setTrimValue(1, RUD_STICK, TRIM_EXTENDED_MAX+3); // link to FP3 trim
setTrimValue(2, RUD_STICK, TRIM_EXTENDED_MAX+2); // link to FP1 trim
@@ -353,10 +344,8 @@ TEST(Trims, infiniteChainedTrims)
}
#endif
TEST(Trims, CopyTrimsToOffset)
TEST_F(TrimsTest, CopyTrimsToOffset)
{
MODEL_RESET();
modelDefault(0);
setTrimValue(0, ELE_STICK, -100); // -100 on elevator
#if defined(CPUARM)
evalFunctions(g_model.customFn, modelFunctionsContext); // it disables all safety channels
@@ -371,34 +360,24 @@ TEST(Trims, CopyTrimsToOffset)
#endif
}
TEST(Trims, CopySticksToOffset)
TEST_F(TrimsTest, CopySticksToOffset)
{
MODEL_RESET();
modelDefault(0);
anaInValues[ELE_STICK] = -100;
#if defined(CPUARM)
doMixerCalculations();
#else
perMain();
#endif
evalMixes(1);
copySticksToOffset(1);
EXPECT_EQ(g_model.limitData[1].offset, -97);
}
TEST(Trims, InstantTrim)
TEST_F(TrimsTest, InstantTrim)
{
MODEL_RESET();
modelDefault(0);
anaInValues[AIL_STICK] = 50;
instantTrim();
EXPECT_EQ(25, getTrimValue(0, AIL_STICK));
}
#if defined(VIRTUAL_INPUTS)
TEST(Trims, InstantTrimNegativeCurve)
TEST_F(TrimsTest, InstantTrimNegativeCurve)
{
MODEL_RESET();
modelDefault(0);
ExpoData *expo = expoAddress(AIL_STICK);
expo->curve.type = CURVE_REF_CUSTOM;
expo->curve.value = 1;
@@ -415,7 +394,10 @@ TEST(Trims, InstantTrimNegativeCurve)
TEST(Curves, LinearIntpol)
{
SYSTEM_RESET();
MODEL_RESET();
MIXER_RESET();
modelDefault(0);
for (int8_t i=-2; i<=2; i++) {
g_model.points[2+i] = 50*i;
}
@@ -429,18 +411,30 @@ TEST(Curves, LinearIntpol)
#if !defined(CPUARM)
TEST(FlightModes, nullFadeOut_posFadeIn)
{
MODEL_RESET();
g_model.flightModeData[1].swtch = SWSRC_ID1;
g_model.flightModeData[1].fadeIn = 15;
perMain();
simuSetSwitch(3, 0);
perMain();
}
TEST(Mixer, R2029Comment)
{
SYSTEM_RESET();
MODEL_RESET();
MIXER_RESET();
modelDefault(0);
lastFlightMode = 255;
simuSetSwitch(3, 1);
g_model.flightModeData[1].swtch = SWSRC_ID1;
g_model.flightModeData[1].fadeIn = 15;
evalMixes(1);
simuSetSwitch(3, 0);
evalMixes(1);
// run mixes enough time to fade out flight modes (otherwise the mixer internal state flightModesFade could affect other tests)
simuSetSwitch(3, 1);
for(int n=0; n<200; n++) {
evalMixes(1);
}
}
TEST_F(MixerTest, R2029Comment)
{
SYSTEM_RESET();
MODEL_RESET();
MIXER_RESET();
modelDefault(0);
g_model.mixData[0].destCh = 0;
g_model.mixData[0].srcRaw = MIXSRC_CH2;
g_model.mixData[0].swtch = -SWSRC_THR;
@@ -464,10 +458,12 @@ TEST(Mixer, R2029Comment)
EXPECT_EQ(chans[1], CHANNEL_MAX);
}
TEST(Mixer, Cascaded3Channels)
TEST_F(MixerTest, Cascaded3Channels)
{
SYSTEM_RESET();
MODEL_RESET();
MIXER_RESET();
modelDefault(0);
g_model.mixData[0].destCh = 0;
g_model.mixData[0].srcRaw = MIXSRC_CH2;
g_model.mixData[0].weight = 100;
@@ -484,10 +480,8 @@ TEST(Mixer, Cascaded3Channels)
EXPECT_EQ(chans[2], CHANNEL_MAX);
}
TEST(Mixer, CascadedOrderedChannels)
TEST_F(MixerTest, CascadedOrderedChannels)
{
MODEL_RESET();
MIXER_RESET();
g_model.mixData[0].destCh = 0;
g_model.mixData[0].srcRaw = MIXSRC_THR;
g_model.mixData[0].weight = 100;
@@ -500,10 +494,8 @@ TEST(Mixer, CascadedOrderedChannels)
EXPECT_EQ(chans[1], CHANNEL_MAX);
}
TEST(Mixer, Cascaded5Channels)
TEST_F(MixerTest, Cascaded5Channels)
{
MODEL_RESET();
MIXER_RESET();
g_model.mixData[0].destCh = 0;
g_model.mixData[0].srcRaw = MIXSRC_CH2;
g_model.mixData[0].weight = 100;
@@ -521,14 +513,14 @@ TEST(Mixer, Cascaded5Channels)
g_model.mixData[4].weight = 100;
for (uint8_t i=0; i<10; i++) {
simuSetSwitch(0, 1);
doMixerCalculations();
evalMixes(1);
EXPECT_EQ(chans[0], CHANNEL_MAX);
EXPECT_EQ(chans[1], CHANNEL_MAX);
EXPECT_EQ(chans[2], CHANNEL_MAX);
EXPECT_EQ(chans[3], CHANNEL_MAX);
EXPECT_EQ(chans[4], CHANNEL_MAX);
simuSetSwitch(0, 0);
doMixerCalculations();
evalMixes(1);
EXPECT_EQ(chans[0], -CHANNEL_MAX);
EXPECT_EQ(chans[1], -CHANNEL_MAX);
EXPECT_EQ(chans[2], -CHANNEL_MAX);
@@ -538,10 +530,8 @@ TEST(Mixer, Cascaded5Channels)
}
#endif
TEST(Mixer, InfiniteRecursiveChannels)
TEST_F(MixerTest, InfiniteRecursiveChannels)
{
MODEL_RESET();
MIXER_RESET();
g_model.mixData[0].destCh = 0;
g_model.mixData[0].srcRaw = MIXSRC_CH2;
g_model.mixData[0].weight = 100;
@@ -557,10 +547,8 @@ TEST(Mixer, InfiniteRecursiveChannels)
EXPECT_EQ(chans[0], 0);
}
TEST(Mixer, BlockingChannel)
TEST_F(MixerTest, BlockingChannel)
{
MODEL_RESET();
MIXER_RESET();
g_model.mixData[0].destCh = 0;
g_model.mixData[0].srcRaw = MIXSRC_CH1;
g_model.mixData[0].weight = 100;
@@ -568,10 +556,8 @@ TEST(Mixer, BlockingChannel)
EXPECT_EQ(chans[0], 0);
}
TEST(Mixer, RecursiveAddChannel)
TEST_F(MixerTest, RecursiveAddChannel)
{
MODEL_RESET();
MIXER_RESET();
g_model.mixData[0].destCh = 0;
g_model.mixData[0].mltpx = MLTPX_ADD;
g_model.mixData[0].srcRaw = MIXSRC_MAX;
@@ -588,10 +574,8 @@ TEST(Mixer, RecursiveAddChannel)
EXPECT_EQ(chans[1], 0);
}
TEST(Mixer, RecursiveAddChannelAfterInactivePhase)
TEST_F(MixerTest, RecursiveAddChannelAfterInactivePhase)
{
MODEL_RESET();
MIXER_RESET();
g_model.flightModeData[1].swtch = SWSRC_ID1;
g_model.mixData[0].destCh = 0;
g_model.mixData[0].mltpx = MLTPX_ADD;
@@ -607,28 +591,18 @@ TEST(Mixer, RecursiveAddChannelAfterInactivePhase)
g_model.mixData[2].srcRaw = MIXSRC_MAX;
g_model.mixData[2].weight = 100;
simuSetSwitch(3, -1);
#if defined(CPUARM)
doMixerCalculations();
#else
perMain();
#endif
evalMixes(1);
EXPECT_EQ(chans[0], CHANNEL_MAX/2);
EXPECT_EQ(chans[1], CHANNEL_MAX);
simuSetSwitch(3, 0);
#if defined(CPUARM)
doMixerCalculations();
#else
perMain();
#endif
evalMixes(1);
EXPECT_EQ(chans[0], CHANNEL_MAX/2);
EXPECT_EQ(chans[1], CHANNEL_MAX);
}
#if !defined(CPUARM)
TEST(Mixer, SlowOnSwitch)
TEST_F(MixerTest, SlowOnSwitch)
{
MODEL_RESET();
MIXER_RESET();
g_model.mixData[0].destCh = 0;
g_model.mixData[0].mltpx = MLTPX_ADD;
g_model.mixData[0].srcRaw = MIXSRC_MAX;
@@ -649,10 +623,8 @@ TEST(Mixer, SlowOnSwitch)
CHECK_SLOW_MOVEMENT(0, -1, 250);
}
TEST(Mixer, SlowUpOnSwitch)
TEST_F(MixerTest, SlowUpOnSwitch)
{
MODEL_RESET();
MIXER_RESET();
g_model.mixData[0].destCh = 0;
g_model.mixData[0].mltpx = MLTPX_ADD;
g_model.mixData[0].srcRaw = MIXSRC_MAX;
@@ -679,10 +651,8 @@ TEST(Mixer, SlowUpOnSwitch)
}
#endif
TEST(Mixer, SlowOnPhase)
TEST_F(MixerTest, SlowOnPhase)
{
MODEL_RESET();
MIXER_RESET();
g_model.flightModeData[1].swtch = TR(SWSRC_THR, SWSRC_SA0);
g_model.mixData[0].destCh = 0;
g_model.mixData[0].mltpx = MLTPX_ADD;
@@ -704,10 +674,8 @@ TEST(Mixer, SlowOnPhase)
}
#if !defined(CPUARM)
TEST(Mixer, SlowOnSwitchAndPhase)
TEST_F(MixerTest, SlowOnSwitchAndPhase)
{
MODEL_RESET();
MIXER_RESET();
g_model.flightModeData[1].swtch = TR(SWSRC_THR, SWSRC_SA0);
g_model.mixData[0].destCh = 0;
g_model.mixData[0].mltpx = MLTPX_ADD;
@@ -736,10 +704,8 @@ TEST(Mixer, SlowOnSwitchAndPhase)
}
#endif
TEST(Mixer, SlowOnSwitchSource)
TEST_F(MixerTest, SlowOnSwitchSource)
{
MODEL_RESET();
MIXER_RESET();
g_model.mixData[0].destCh = 0;
g_model.mixData[0].mltpx = MLTPX_ADD;
#if defined(PCBTARANIS) || defined(PCBHORUS)
@@ -764,10 +730,8 @@ TEST(Mixer, SlowOnSwitchSource)
CHECK_SLOW_MOVEMENT(0, +1, 500);
}
TEST(Mixer, SlowDisabledOnStartup)
TEST_F(MixerTest, SlowDisabledOnStartup)
{
MODEL_RESET();
MIXER_RESET();
g_model.mixData[0].destCh = 0;
g_model.mixData[0].mltpx = MLTPX_ADD;
g_model.mixData[0].srcRaw = MIXSRC_MAX;
@@ -779,10 +743,8 @@ TEST(Mixer, SlowDisabledOnStartup)
EXPECT_EQ(chans[0], CHANNEL_MAX);
}
TEST(Mixer, DelayOnSwitch)
TEST_F(MixerTest, DelayOnSwitch)
{
MODEL_RESET();
MIXER_RESET();
g_model.mixData[0].destCh = 0;
g_model.mixData[0].mltpx = MLTPX_ADD;
g_model.mixData[0].srcRaw = MIXSRC_MAX;
@@ -812,10 +774,8 @@ TEST(Mixer, DelayOnSwitch)
}
#if !defined(CPUARM)
TEST(Mixer, SlowAndDelayOnReplace3POSSource)
TEST_F(MixerTest, SlowAndDelayOnReplace3POSSource)
{
MODEL_RESET();
MIXER_RESET();
g_model.mixData[0].destCh = 0;
g_model.mixData[0].mltpx = MLTPX_REP;
g_model.mixData[0].srcRaw = MIXSRC_3POS;
@@ -842,10 +802,8 @@ TEST(Mixer, SlowAndDelayOnReplace3POSSource)
#endif
#if !defined(CPUARM)
TEST(Mixer, SlowOnSwitchReplace)
TEST_F(MixerTest, SlowOnSwitchReplace)
{
MODEL_RESET();
MIXER_RESET();
g_model.mixData[0].destCh = 0;
g_model.mixData[0].mltpx = MLTPX_ADD;
g_model.mixData[0].srcRaw = MIXSRC_MAX;
@@ -874,10 +832,8 @@ TEST(Mixer, SlowOnSwitchReplace)
#endif
#if !defined(VIRTUAL_INPUTS)
TEST(Mixer, NoTrimOnInactiveMix)
TEST_F(MixerTest, NoTrimOnInactiveMix)
{
MODEL_RESET();
MIXER_RESET();
g_model.mixData[0].destCh = 0;
g_model.mixData[0].mltpx = MLTPX_ADD;
g_model.mixData[0].srcRaw = MIXSRC_Thr;
@@ -897,10 +853,8 @@ TEST(Mixer, NoTrimOnInactiveMix)
}
#endif
TEST(Mixer, SlowOnMultiply)
TEST_F(MixerTest, SlowOnMultiply)
{
MODEL_RESET();
MIXER_RESET();
g_model.mixData[0].destCh = 0;
g_model.mixData[0].mltpx = MLTPX_ADD;
g_model.mixData[0].srcRaw = MIXSRC_MAX;
@@ -929,8 +883,10 @@ TEST(Mixer, SlowOnMultiply)
#if defined(HELI) && defined(VIRTUAL_INPUTS)
TEST(Heli, BasicTest)
{
SYSTEM_RESET();
MODEL_RESET();
applyDefaultTemplate();
MIXER_RESET();
modelDefault(0);
g_model.swashR.collectiveSource = MIXSRC_Thr;
g_model.swashR.elevatorSource = MIXSRC_Ele;
g_model.swashR.aileronSource = MIXSRC_Ail;
@@ -959,7 +915,10 @@ TEST(Heli, BasicTest)
TEST(Heli, Mode2Test)
{
SYSTEM_RESET();
MODEL_RESET();
MIXER_RESET();
modelDefault(0);
g_eeGeneral.templateSetup = 2;
applyDefaultTemplate();
g_model.swashR.collectiveSource = MIXSRC_Thr;
@@ -986,13 +945,17 @@ TEST(Heli, Mode2Test)
EXPECT_EQ(chans[0], -CHANNEL_MAX);
EXPECT_EQ(chans[1], CHANNEL_MAX/2);
EXPECT_EQ(chans[2], CHANNEL_MAX/2);
SYSTEM_RESET();
}
#endif
#if defined(HELI) && !defined(VIRTUAL_INPUTS)
TEST(Heli, SimpleTest)
{
SYSTEM_RESET();
MODEL_RESET();
MIXER_RESET();
modelDefault(0);
applyTemplate(TMPL_HELI_SETUP);
anaInValues[ELE_STICK] = 1024;
evalFlightModeMixes(e_perout_mode_normal, 0);
@@ -1004,8 +967,10 @@ TEST(Heli, SimpleTest)
TEST(Trainer, UnpluggedTest)
{
SYSTEM_RESET();
MODEL_RESET();
MIXER_RESET();
modelDefault(0);
g_model.mixData[0].destCh = 0;
g_model.mixData[0].mltpx = MLTPX_ADD;
g_model.mixData[0].srcRaw = MIXSRC_FIRST_TRAINER;