#45: Test structure for error and mode handler, tests for controller

ToolboxPlane · Dec 28, 2022 · 1a23005 · 1a23005
1 parent 67e1ea5
commit 1a23005
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Showing 3 changed files with 67 additions and 18 deletions.
diff --git a/Tests/LowLevel/Application/controller.cpp b/Tests/LowLevel/Application/controller.cpp
@@ -1,6 +1,50 @@
-/**
- * @file controller.cpp
- * @author paul
- * @date 05.12.22
- * Description here TODO
- */
+#include <gtest/gtest.h>
+
+extern "C" {
+#include <Application/controller.h>
+}
+
+TEST(TEST_NAME, no_error) {
+    imu_data_t imuData{};
+    imuData.roll_mul_16 = 37 * 16;
+    imuData.pitch_mul_16 = -49 * 16;
+    auto controllerCmd = controller_update(&imuData, 37, -49);
+    EXPECT_EQ(controllerCmd.elevon_right, 0);
+    EXPECT_EQ(controllerCmd.elevon_left, 0);
+}
+
+TEST(TEST_NAME, need_roll_right) {
+    imu_data_t imuData{};
+    imuData.roll_mul_16 = -90 * 16;
+    imuData.pitch_mul_16 = -49 * 16;
+    auto controllerCmd = controller_update(&imuData, 90, -49);
+    EXPECT_EQ(controllerCmd.elevon_right, 500);
+    EXPECT_EQ(controllerCmd.elevon_left, -500);
+}
+
+TEST(TEST_NAME, need_roll_left) {
+    imu_data_t imuData{};
+    imuData.roll_mul_16 = 90 * 16;
+    imuData.pitch_mul_16 = -49 * 16;
+    auto controllerCmd = controller_update(&imuData, -90, -49);
+    EXPECT_EQ(controllerCmd.elevon_right, -500);
+    EXPECT_EQ(controllerCmd.elevon_left, 500);
+}
+
+TEST(TEST_NAME, need_pitch_up) {
+    imu_data_t imuData{};
+    imuData.roll_mul_16 = 37 * 16;
+    imuData.pitch_mul_16 = 90 * 16;
+    auto controllerCmd = controller_update(&imuData, 37, -90);
+    EXPECT_EQ(controllerCmd.elevon_right, 500);
+    EXPECT_EQ(controllerCmd.elevon_left, 500);
+}
+
+TEST(TEST_NAME, need_pitch_down) {
+    imu_data_t imuData{};
+    imuData.roll_mul_16 = 37 * 16;
+    imuData.pitch_mul_16 = -90 * 16;
+    auto controllerCmd = controller_update(&imuData, 37, 90);
+    EXPECT_EQ(controllerCmd.elevon_right, -500);
+    EXPECT_EQ(controllerCmd.elevon_left, -500);
+}
diff --git a/Tests/LowLevel/Application/error_handler.cpp b/Tests/LowLevel/Application/error_handler.cpp
@@ -1,6 +1,9 @@
-/**
- * @file error_handler.cpp
- * @author paul
- * @date 05.12.22
- * Description here TODO
- */
+#include <gtest/gtest.h>
+
+extern "C" {
+#include <Application/error_handler.h>
+}
+
+TEST(TEST_NAME, init) {
+
+}
diff --git a/Tests/LowLevel/Application/mode_handler.cpp b/Tests/LowLevel/Application/mode_handler.cpp
@@ -1,6 +1,8 @@
-/**
- * @file mode_handler.cpp
- * @author Paul Nykiel
- * @date 21.12.22
- * @brief Description here TODO
- */
+#include <gtest/gtest.h>
+
+extern "C" {
+#include <Application/mode_handler.h>
+}
+
+TEST(TEST_NAME, init) {
+}