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116 lines
3.3 KiB
C++
116 lines
3.3 KiB
C++
//
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// FILE: unit_test_001.cpp
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// AUTHOR: Rob Tillaart
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// DATE: 2021-01-07
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// PURPOSE: unit tests for the runningAngle library
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// https://github.com/RobTillaart/runningAngle
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// https://github.com/Arduino-CI/arduino_ci/blob/master/REFERENCE.md
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//
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// supported assertions
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// ----------------------------
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// assertEqual(expected, actual); // a == b
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// assertNotEqual(unwanted, actual); // a != b
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// assertComparativeEquivalent(expected, actual); // abs(a - b) == 0 or (!(a > b) && !(a < b))
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// assertComparativeNotEquivalent(unwanted, actual); // abs(a - b) > 0 or ((a > b) || (a < b))
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// assertLess(upperBound, actual); // a < b
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// assertMore(lowerBound, actual); // a > b
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// assertLessOrEqual(upperBound, actual); // a <= b
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// assertMoreOrEqual(lowerBound, actual); // a >= b
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// assertTrue(actual);
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// assertFalse(actual);
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// assertNull(actual);
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// // special cases for floats
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// assertEqualFloat(expected, actual, epsilon); // fabs(a - b) <= epsilon
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// assertNotEqualFloat(unwanted, actual, epsilon); // fabs(a - b) >= epsilon
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// assertInfinity(actual); // isinf(a)
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// assertNotInfinity(actual); // !isinf(a)
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// assertNAN(arg); // isnan(a)
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// assertNotNAN(arg); // !isnan(a)
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#include <ArduinoUnitTests.h>
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#include "runningAngle.h"
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unittest_setup()
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{
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}
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unittest_teardown()
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{
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}
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unittest(test_constructor)
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{
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fprintf(stderr, "VERSION: %s\n", RUNNING_ANGLE_LIB_VERSION );
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runningAngle heading(runningAngle::DEGREES);
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assertEqualFloat(0.80, heading.getWeight(), 0.0001);
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assertEqualFloat(0, heading.getAverage(), 0.0001);
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}
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unittest(test_getAverage)
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{
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runningAngle heading(runningAngle::DEGREES);
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for (int angle = 0; angle < 10; angle++)
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{
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heading.add(angle);
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fprintf(stderr, "%d\t%f\n", angle, heading.getAverage());
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}
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assertEqualFloat(8.750000, heading.getAverage(), 0.0001);
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fprintf(stderr, "\treset()\n");
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heading.reset();
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assertEqualFloat(0, heading.getAverage(), 0.0001);
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}
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unittest(test_weight)
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{
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runningAngle heading(runningAngle::DEGREES);
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assertEqualFloat(0.80, heading.getWeight(), 0.0001);
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heading.setWeight(0.85);
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assertEqualFloat(0.85, heading.getWeight(), 0.0001);
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heading.setWeight(2);
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assertEqualFloat(1, heading.getWeight(), 0.0001);
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heading.setWeight(-5);
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assertEqualFloat(0.001, heading.getWeight(), 0.0001);
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fprintf(stderr, "\treset()\n");
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heading.reset();
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assertEqualFloat(0.80, heading.getWeight(), 0.0001);
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}
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unittest(test_wrap)
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{
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runningAngle heading(runningAngle::DEGREES);
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assertEqualFloat(0, heading.wrap(0), 0.0001);
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assertEqualFloat(0, heading.wrap(360), 0.0001);
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assertEqualFloat(1, heading.wrap(361), 0.0001);
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assertEqualFloat(179, heading.wrap(179), 0.0001);
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assertEqualFloat(-180, heading.wrap(180), 0.0001);
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assertEqualFloat(-179, heading.wrap(181), 0.0001);
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assertEqualFloat(-179, heading.wrap(-179), 0.0001);
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assertEqualFloat(-180, heading.wrap(-180), 0.0001);
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assertEqualFloat(179, heading.wrap(-181), 0.0001);
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assertEqualFloat(1, heading.wrap(721), 0.0001);
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assertEqualFloat(-1, heading.wrap(-1), 0.0001);
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assertEqualFloat(-1, heading.wrap(-361), 0.0001);
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assertEqualFloat(-1, heading.wrap(-721), 0.0001);
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}
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unittest_main()
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// --------
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