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/****************************************************************************
*
* Copyright (C) 2013 PX4 Development Team. All rights reserved.
* Author: Simon Wilks <sjwilks@gmail.com>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#ifndef UNIT_TEST_H_
#define UNIT_TEST_H_
#include <px4_log.h>
#define ut_declare_test_c(test_function, test_class) \
extern "C" { \
int test_function(int argc, char *argv[]); \
int test_function(int argc, char *argv[]) \
{ \
test_class* test = new test_class(); \
bool success = test->run_tests(); \
test->print_results(); \
delete test; \
return success ? 0 : -1; \
} \
}
/// @brief Base class to be used for unit tests.
class __EXPORT UnitTest
{
public:
UnitTest() = default;
virtual ~UnitTest() = default;
/// @brief Override to run your unit tests. Unit tests should be called using ut_run_test macro.
/// @return true: all unit tests succeeded, false: one or more unit tests failed
virtual bool run_tests(void) = 0;
/// @brief Prints results from running of unit tests.
void print_results()
{
if (_tests_failed) {
PX4_ERR("SOME TESTS FAILED");
} else {
PX4_INFO("ALL TESTS PASSED");
}
PX4_INFO(" Tests passed : %d", _tests_passed);
PX4_INFO(" Tests failed : %d", _tests_failed);
PX4_INFO(" Tested assertions : %d", _assertions);
}
/// @brief Macro to create a function which will run a unit test class and print results.
#define ut_declare_test(test_function, test_class) \
bool test_function(void) \
{ \
test_class* test = new test_class(); \
bool success = test->run_tests(); \
test->print_results(); \
delete test; \
return success; \
}
protected:
/// @brief Runs a single unit test. Unit tests must have the function signature of bool test(void). The unit
/// test should return true if it succeeded, false for fail.
#define ut_run_test(test) \
do { \
PX4_INFO("RUNNING TEST: %s", #test); \
_tests_run++; \
_init(); \
if (!test()) { \
PX4_ERR("TEST FAILED: %s", #test); \
_tests_failed++; \
} else { \
PX4_INFO("TEST PASSED: %s", #test); \
_tests_passed++; \
} \
_cleanup(); \
printf("\n"); \
} while (0)
/// @brief Used to assert a value within a unit test.
#define ut_assert(message, test) \
do { \
if (!(test)) { \
_print_assert(message, #test, __FILE__, __LINE__); \
return false; \
} else { \
_assertions++; \
} \
} while (0)
/// @brief Used to assert a value within a unit test.
#define ut_test(test) ut_assert("test", test)
/// @brief To assert specifically to true.
#define ut_assert_true(test) \
do { \
if ((test) != true) { \
_print_assert("result not true", #test, __FILE__, __LINE__); \
return false; \
} else { \
_assertions++; \
} \
} while (0)
/// @brief To assert specifically to true.
#define ut_assert_false(test) \
do { \
if ((test) != false) { \
_print_assert("result not false", #test, __FILE__, __LINE__); \
return false; \
} else { \
_assertions++; \
} \
} while (0)
/// @brief Used to compare two integer values within a unit test. If possible use ut_compare instead of ut_assert
/// since it will give you better error reporting of the actual values being compared.
#define ut_compare(message, v1, v2) \
do { \
int _v1 = v1; \
int _v2 = v2; \
if (_v1 != _v2) { \
_print_compare(message, #v1, _v1, #v2, _v2, __FILE__, __LINE__); \
return false; \
} else { \
_assertions++; \
} \
} while (0)
/// @brief Used to compare two float values within a unit test. If possible use ut_compare_float instead of ut_assert
/// since it will give you better error reporting of the actual values being compared.
#define ut_compare_float(message, v1, v2, precision) \
do { \
int _p = powf(10.0f, precision); \
int _v1 = (int)(v1 * _p + 0.5f); \
int _v2 = (int)(v2 * _p + 0.5f); \
if (_v1 != _v2) { \
_print_compare(message, #v1, _v1, #v2, _v2, __FILE__, __LINE__); \
return false; \
} else { \
_assertions++; \
} \
} while (0)
/// @brief Used to compare two integer values within a unit test. If possible use ut_less_than instead of ut_assert
/// since it will give you better error reporting of the actual values being compared.
#define ut_less_than(message, v1_smaller, v2_bigger) \
do { \
int _v1 = v1_smaller; \
int _v2 = v2_bigger; \
if (!(_v1 < _v2)) { \
_print_compare(message, #v1_smaller, _v1, #v2_bigger, _v2, __FILE__, __LINE__); \
return false; \
} else { \
_assertions++; \
} \
} while (0)
virtual void _init(void) {} ///< Run before each unit test. Override to provide custom behavior.
virtual void _cleanup(void) {} ///< Run after each unit test. Override to provide custom behavior.
void _print_assert(const char *msg, const char *test, const char *file, int line)
{
PX4_ERR("Assertion failed: %s - %s (%s:%d)", msg, test, file, line);
}
void _print_compare(const char *msg, const char *v1_text, int v1, const char *v2_text, int v2, const char *file,
int line)
{
PX4_ERR("Compare failed: %s - (%s:%d) (%s:%d) (%s:%d)", msg, v1_text, v1, v2_text, v2, file, line);
}
int _tests_run{0}; ///< The number of individual unit tests run
int _tests_failed{0}; ///< The number of unit tests which failed
int _tests_passed{0}; ///< The number of unit tests which passed
int _assertions{0}; ///< Total number of assertions tested by all unit tests
};
#endif /* UNIT_TEST_H_ */