ECL Unit Test Clean Up

test/CMakeLists.txt

@@ -33,16 +33,14 @@
 
 include(gtest.cmake)
 
-add_library(SENSOR_SIMULATOR SensorSimulator.cpp)
-target_link_libraries(SENSOR_SIMULATOR ecl_EKF)
+add_subdirectory(SensorSimulator)
 
 set(SRCS
 	main.cpp
 	test_EKF_basics.cpp
 	test_EKF_ringbuffer.cpp
 	test_EKF_imuSampling.cpp
 	test_AlphaFilter.cpp
-	test_SensorSimulator.cpp
    )
 add_executable(ECL_GTESTS ${SRCS})
 

test/SensorSimulator/Baro.cpp

@@ -0,0 +1,20 @@
+#include "Baro.h"
+
+Baro::Baro(Ekf* ekf):Sensor(ekf)
+{
+}
+
+Baro::~Baro()
+{
+}
+
+void Baro::send(uint32_t time)
+{
+	_ekf->setBaroData(time,_baro_data);
+	_time_last_data_sent = time;
+}
+
+void Baro::setData(float baro)
+{
+	_baro_data = baro;
+}

test/test_SensorSimulator.cpp → test/SensorSimulator/Baro.h

@@ -31,38 +31,26 @@
  *
  ****************************************************************************/
 
-#include <gtest/gtest.h>
-#include <math.h>
-#include "SensorSimulator.h"
-#include "EKF/ekf.h"
+/**
+ * Feeds Ekf with Mag data
+ * @author Kamil Ritz <ka.ritz@hotmail.com>
+ */
+#pragma once
 
-using namespace simulator;
+#include "Sensor.h"
 
+class Baro: public Sensor
+{
+public:
+	Baro(Ekf* ekf);
+	~Baro();
 
-class SensorSimulatorTest : public ::testing::Test {
- public:
+	void setData(float baro);
 
-	// Ekf* _ekf;
-	// SensorSimulator* _sensor_simulator;
+private:
+	float _baro_data;
 
-	void SetUp() override
-	{
-		// _ekf = new Ekf();
-		// _ekf->init(0);
-	}
+	void send(uint32_t time);
 
-	void TearDown() override
-	{
-		// delete _sensor_simulator;
-		// delete _ekf;
-	}
 };
 
-TEST_F(SensorSimulatorTest, greatestCommonDivider)
-{
-	// Test gcd function with some example
-	EXPECT_EQ(gcd(uint32_t(3), uint32_t(402)), uint32_t(3));
-	EXPECT_EQ(gcd(uint32_t(3), uint32_t(401)), uint32_t(1));
-
-
-}

test/SensorSimulator/CMakeLists.txt

@@ -0,0 +1,45 @@
+############################################################################
+#
+#   Copyright (c) 2019 ECL Development Team. All rights reserved.
+#
+# 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 ECL 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.
+#
+############################################################################
+
+
+set(SRCS
+	SensorSimulator.cpp
+	Sensor.cpp
+	Imu.cpp
+	Mag.cpp
+	Baro.cpp
+	Gps.cpp
+   )
+
+add_library(SENSOR_SIMULATOR ${SRCS})
+target_link_libraries(SENSOR_SIMULATOR ecl_EKF)

test/SensorSimulator/Gps.cpp

@@ -0,0 +1,20 @@
+#include "Gps.h"
+
+Gps::Gps(Ekf* ekf):Sensor(ekf)
+{
+}
+
+Gps::~Gps()
+{
+}
+
+void Gps::send(uint32_t time)
+{
+	_gps_data.time_usec = time;
+	_ekf->setGpsData(time, _gps_data);
+}
+
+void Gps::setData(gps_message gps)
+{
+	_gps_data = gps;
+}

test/SensorSimulator/Gps.h

@@ -0,0 +1,56 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2019 ECL Development Team. All rights reserved.
+ *
+ * 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.
+ *
+ ****************************************************************************/
+
+/**
+ * Feeds Ekf with Gps data
+ * @author Kamil Ritz <ka.ritz@hotmail.com>
+ */
+#pragma once
+
+#include "Sensor.h"
+
+class Gps: public Sensor
+{
+public:
+	Gps(Ekf* ekf);
+	~Gps();
+
+	void setData(gps_message gps);
+
+private:
+	gps_message _gps_data;
+
+	void send(uint32_t time);
+
+};
+

test/SensorSimulator/Imu.cpp

@@ -0,0 +1,39 @@
+#include "Imu.h"
+
+Imu::Imu(Ekf* ekf):Sensor(ekf)
+{
+}
+
+Imu::~Imu()
+{
+}
+
+void Imu::send(uint32_t time)
+{
+	// fill imu sample with stored data
+	imuSample imu_sample;
+	imu_sample.time_us = time;
+	imu_sample.delta_ang_dt = (time - _time_last_data_sent) * 1.e-6f;
+	imu_sample.delta_ang = _gyro_data * imu_sample.delta_ang_dt;
+	imu_sample.delta_vel_dt = (time - _time_last_data_sent) * 1.e-6f;
+	imu_sample.delta_vel = _accel_data * imu_sample.delta_vel_dt;
+
+	_ekf->setIMUData(imu_sample);
+	_time_last_data_sent = time;
+}
+
+void Imu::setData(Vector3f accel, Vector3f gyro)
+{
+	setAccelData(accel);
+	setGyroData(gyro);
+}
+
+void Imu::setAccelData(Vector3f accel)
+{
+	_accel_data = accel;
+}
+
+void Imu::setGyroData(Vector3f gyro)
+{
+	_gyro_data = gyro;
+}