02/24/2024 Test Launch Version (BB Black) (#11)

* Adding a 90% completed, compilable but untested ADS

* Made basic changes to actuator & sensor. Also added motor class

* Removed unnecessary .cpp files

* Updated sensor & actuator classes, finished ads, added variable time step to kalman filter, set up all tests for future assertions

* Relocated 'main' to 'active-drag-system.cpp'. Added more info to README

* Removed main.cpp

* Added more details to README

* Changed some function parameters from pass-by-pointer to pass-by-reference. Also removed the std namespace

* Started writing the test cases

* Updated the .gitignore file

* Removed some files that should be gitignored

* Up to date with Jazz's pull request

* Test Launch Branch Created; PRU Servo Control with Test Program

* Added I2C device class and register IDs for MPL [INCOMPLETE SENSOR IMPLEMENTATION]

Needs actual data getting function implementation for both sensors and register IDs for BNO, will implement shortly.

* Partial implementation of MPL sensor

Added startup method, still needs fleshed out data getters and setters and finished I2C implementation. MOST LIKELY WILL HAVE COMPILATION ISSUES.

* *Hypothetically* complete MPL implementation

NEEDS HARDWARE TESTING

* IMU Header and init() method implementation

Needs like, all data handling still lol

* Hypothetically functional (Definitely won't compile)

* We ball?

---------

Co-authored-by: Jazz Jackson <[email protected]>
Co-authored-by: Cian Capacci <[email protected]>

1 files changed, 66 insertions, 10 deletions

diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
index 9aef78e..13d4dc6 100644
--- a/test/CMakeLists.txt
+++ b/test/CMakeLists.txt
@@ -1,14 +1,70 @@
-enable_testing()
+cmake_minimum_required(VERSION 3.16.3)
 
-add_executable(
-  hello_test
-  hello_test.cc
-)
-target_link_libraries(
-  hello_test
-  GTest::gtest_main
+project(ADSTests)
+
+# Set Variables
+set(TARGET_A TESTkalmanFilter)
+set(SOURCES_A kalmanFilterTest.cpp ../src/kalmanfilter.cpp)
+
+set(TARGET_B TESTsurfaceFitModel)
+set(SOURCES_B surfaceFitModelTest.cpp ../src/surfaceFitModel.cpp)
+
+set(TARGET_C TESTactuationPlan)
+set(SOURCES_C actuationPlanTest.cpp ../src/actuationPlan.cpp ../src/surfaceFitModel.cpp ../src/rocketUtils.cpp ../src/sensorIMU.cpp ../src/sensorAltimeter.cpp)
+
+# set(TARGET_D TESTads)
+# set(SOURCES_D adsTest.cpp ../src/ads.cpp ../src/actuationPlan.cpp ../src/surfaceFitModel.cpp ../src/rocketUtils.cpp ../src/sensorIMU.cpp ../src/sensorAltimeter.cpp ../src/motor.cpp ../src/logger.cpp ../src/kalmanfilter.cpp)
+
+set(TARGET_E TESTmotorPlan)
+set(SOURCES_E motorTest.cpp ../src/motor.cpp ../src/rocketUtils.cpp)
+
+set(TARGET_F TESTsensorAltimeterPlan)
+set(SOURCES_F sensorAltimeterTest.cpp ../src/sensorAltimeter.cpp ../src/rocketUtils.cpp)
+
+set(TARGET_G TESTsensorIMUPlan)
+set(SOURCES_G sensorIMUTest.cpp ../src/sensorIMU.cpp ../src/rocketUtils.cpp)
+
+
+#Set-up Google Test
+set(CMAKE_CXX_STANDARD 14)
+include(FetchContent)
+FetchContent_Declare(
+  googletest
+  URL https://github.com/google/googletest/archive/03597a01ee50ed33e9dfd640b249b4be3799d395.zip
 )
+# For Windows: Prevent overriding the parent project's compiler/linker settings
+set(gtest_force_shared_crt ON CACHE BOOL "" FORCE)
+FetchContent_MakeAvailable(googletest)
+
+
+
+
+# Create Executables & Link Dependencies
+add_executable(${TARGET_A} ${SOURCES_A})
+target_link_libraries(${TARGET_A} PUBLIC gtest_main) # Link GoogleTest's main() to Executable
+# Tell CMake the Target is a Unit Test
+add_test(NAME ${TARGET_A} COMMAND ${TARGET_A})
+
+add_executable(${TARGET_B} ${SOURCES_B})
+target_link_libraries(${TARGET_B} PUBLIC gtest_main)
+add_test(NAME ${TARGET_B} COMMAND ${TARGET_B})
+
+add_executable(${TARGET_C} ${SOURCES_C})
+target_link_libraries(${TARGET_C} PUBLIC gtest_main)
+add_test(NAME ${TARGET_C} COMMAND ${TARGET_C})
+
+# add_executable(${TARGET_D} ${SOURCES_D})
+# target_link_libraries(${TARGET_D} PUBLIC gtest_main)
+# add_test(NAME ${TARGET_D} COMMAND ${TARGET_D})
+
+add_executable(${TARGET_E} ${SOURCES_E})
+target_link_libraries(${TARGET_E} PUBLIC gtest_main)
+add_test(NAME ${TARGET_E} COMMAND ${TARGET_E})
 
-include(GoogleTest)
-gtest_discover_tests(hello_test)
+add_executable(${TARGET_F} ${SOURCES_F})
+target_link_libraries(${TARGET_F} PUBLIC gtest_main)
+add_test(NAME ${TARGET_F} COMMAND ${TARGET_F})
 
+add_executable(${TARGET_G} ${SOURCES_G})
+target_link_libraries(${TARGET_G} PUBLIC gtest_main)
+add_test(NAME ${TARGET_G} COMMAND ${TARGET_G})
\ No newline at end of file