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GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/libraries/AP_Common/tests/test_ap_common.cpp
Views: 1799
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#include <AP_gtest.h>

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#include <AP_Common/AP_Common.h>

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TEST(AP_Common, HexToUint8)

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{

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    uint8_t res;

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    for (uint8_t test_value = '0', expected_res = 0; test_value < ':'; test_value++, expected_res++) {

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        EXPECT_TRUE(hex_to_uint8(test_value, res));

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        EXPECT_EQ(expected_res, res);

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    }

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    for (uint8_t test_value = 'A', expected_res = 10; test_value < 'G'; test_value++, expected_res++) {

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        EXPECT_TRUE(hex_to_uint8(test_value, res));

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        EXPECT_EQ(expected_res, res);

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    }

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    for (uint8_t test_value = 'a', expected_res = 10; test_value < 'g'; test_value++, expected_res++) {

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        EXPECT_TRUE(hex_to_uint8(test_value, res));

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        EXPECT_EQ(expected_res, res);

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    }

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    EXPECT_FALSE(hex_to_uint8('G', res));

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    EXPECT_FALSE(hex_to_uint8('g', res));

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    EXPECT_FALSE(hex_to_uint8(';', res));

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    EXPECT_FALSE(hex_to_uint8('/', res));

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    EXPECT_FALSE(hex_to_uint8('@', res));

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    EXPECT_FALSE(hex_to_uint8('`', res));

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}

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TEST(AP_Common, BoundedInt32)

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{

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    EXPECT_TRUE(is_bounded_int32(1, 0, 2));

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    EXPECT_FALSE(is_bounded_int32(3, 0, 2));

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    EXPECT_FALSE(is_bounded_int32(-1, 0, 2));

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    EXPECT_TRUE(is_bounded_int32(0, -1, 2));

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    EXPECT_TRUE(is_bounded_int32(-1, -2, 0));

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}

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TEST(AP_Common, BitSet)

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{

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    uint16_t test_value1 = 128;

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    BIT_SET(test_value1, 3);

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    EXPECT_EQ(test_value1, 136u);

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    BIT_CLEAR(test_value1, 7);

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    EXPECT_EQ(test_value1, 8u);

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    uint32_t test_value2 = 128;

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    BIT_SET(test_value2, 3);

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    EXPECT_EQ(test_value2, 136u);

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    BIT_CLEAR(test_value2, 7);

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    EXPECT_EQ(test_value2, 8u);

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    unsigned long test_value3 = 128;

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    BIT_SET(test_value3, 3);

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    EXPECT_EQ(test_value3, 136u);

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    BIT_CLEAR(test_value3, 7);

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    EXPECT_EQ(test_value3, 8u);

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}

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TEST(AP_Common, StrcpyNoTerm)

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{

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    const char src[] = "This is ArduPilot";

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    char dest[ARRAY_SIZE(src)-5]{};

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    strncpy_noterm(dest, src, 12);

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    EXPECT_STRNE(dest, src);

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    EXPECT_STREQ("This is Ardu", dest);

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    const char src2[] = "ArduPilot";

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    char dest2[ARRAY_SIZE(src)-5]{};

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    strncpy_noterm(dest2, src2, 12);

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    EXPECT_STREQ(dest2, src2);

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}

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AP_GTEST_MAIN()

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