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-rw-r--r--test/CMakeLists.txt76
-rw-r--r--test/actuationPlanTest.cpp54
-rw-r--r--test/hello_test.cc9
-rw-r--r--test/kalmanFilterTest.cpp101
-rw-r--r--test/loggerTest.cpp57
-rw-r--r--test/motorTest.cpp50
-rw-r--r--test/sensorAltimeterTest.cpp50
-rw-r--r--test/sensorIMUTest.cpp50
-rw-r--r--test/sensor_test.cpp10
-rw-r--r--test/surfaceFitModelTest.cpp43
10 files changed, 481 insertions, 19 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
diff --git a/test/actuationPlanTest.cpp b/test/actuationPlanTest.cpp
new file mode 100644
index 0000000..72410b0
--- /dev/null
+++ b/test/actuationPlanTest.cpp
@@ -0,0 +1,54 @@
+#include <iostream>
+#include <gtest/gtest.h>
+#include "../include/surfaceFitModel.hpp"
+#include "../include/actuationPlan.hpp"
+#include "../include/rocketUtils.hpp"
+
+
+class ActuationPlanTest : public ::testing::Test {
+
+ protected:
+
+ ActuationPlanTest() {
+
+ SurfaceFitModel sfm = SurfaceFitModel();
+ plan = new ActuationPlan(sfm);
+ }
+
+ //~ActuationPlanTest() {}
+
+ ActuationPlan *plan;
+};
+
+
+/**
+ * @brief Tests running the Actuation Plan
+ *
+ * **/
+TEST_F(ActuationPlanTest, runPlan) {
+
+ Vehicle rocket;
+
+ rocket.imuInitFail = false;
+ rocket.imuReadFail = false;
+ rocket.altiInitFail = false;
+ rocket.altiReadFail = false;
+
+ // Test when Vehicle Status: Glide
+ rocket.fail_time = (time_t)(-1);
+ rocket.deploy_time = time(nullptr);
+ rocket.status = GLIDE;
+ rocket.filtered_altitude = 1;
+ rocket.filtered_velocity = 2;
+ plan->runPlan(rocket);
+ EXPECT_NEAR(rocket.deployment_angle, 120.0, 0.01);
+ EXPECT_NE(rocket.fail_time, (time_t)(-1));
+
+ // Test when Vehicle Status: Apogee
+ rocket.deploy_time = time(nullptr);
+ rocket.status = APOGEE;
+ rocket.filtered_altitude = 1;
+ rocket.filtered_velocity = 2;
+ plan->runPlan(rocket);
+ EXPECT_NEAR(rocket.deployment_angle, 110.0, 0.01);
+} \ No newline at end of file
diff --git a/test/hello_test.cc b/test/hello_test.cc
deleted file mode 100644
index 5a57e13..0000000
--- a/test/hello_test.cc
+++ /dev/null
@@ -1,9 +0,0 @@
-#include <gtest/gtest.h>
-
-// Demonstrate some basic assertions.
-TEST(HelloTest, BasicAssertions) {
- // Expect two strings not to be equal.
- EXPECT_STRNE("hello", "world");
- // Expect equality.
- EXPECT_EQ(7 * 6, 42);
-}
diff --git a/test/kalmanFilterTest.cpp b/test/kalmanFilterTest.cpp
new file mode 100644
index 0000000..e3dc1e4
--- /dev/null
+++ b/test/kalmanFilterTest.cpp
@@ -0,0 +1,101 @@
+#include <iostream>
+#include <gtest/gtest.h>
+#include "eigen3/Eigen/Dense"
+#include "../include/kalmanfilter.hpp"
+
+using namespace Eigen;
+
+class KalmanFilterTest : public ::testing::Test {
+
+ protected:
+
+ KalmanFilterTest() {
+
+ kf = new KalmanFilter(2, 1, 1, 1);
+ }
+
+ //~KalmanFilterTest() {}
+
+ KalmanFilter *kf;
+};
+
+
+/**
+ * @brief Test Setting the initial state x & P
+ *
+ * **/
+TEST_F(KalmanFilterTest, setInitialState) {
+
+ VectorXf state_vec(2);
+ MatrixXf state_cov(2, 2);
+ state_vec << 1, 2;
+ state_cov << 1, 3, 4, 9;
+
+ // Success Case
+ EXPECT_TRUE(kf->setInitialState(state_vec, state_cov));
+
+ // Failure Case
+ VectorXf state_vec2(4);
+ state_vec2 << 1, 2, 3, 4;
+ EXPECT_FALSE(kf->setInitialState(state_vec2, state_cov));
+}
+
+/**
+ * @brief Test a single iteration of the Kalman Filter
+ *
+ * **/
+TEST_F(KalmanFilterTest, run) {
+
+ VectorXf control(1);
+ VectorXf measurement(1);
+ control << 1;
+ measurement << 1;
+ VectorXf res(1);
+
+ res = kf->run(control, measurement, 1);
+
+ EXPECT_NEAR(0.5454, res(0), 0.0001);
+ EXPECT_NEAR(1, res(1), 0.0001);
+}
+
+
+/**
+ * @brief Test run() when the time step value is changed between function calls.
+ *
+ */
+TEST_F(KalmanFilterTest, runChange) {
+
+ VectorXf control(1);
+ VectorXf measurement(1);
+ control << 1;
+ measurement << 1;
+ VectorXf res(1);
+
+ res = kf->run(control, measurement, 0.1);
+ EXPECT_NEAR(0.09545, res(0), 0.00001);
+ EXPECT_NEAR(0.1, res(1), 0.1);
+
+ res = kf->run(control, measurement, 0.15);
+ EXPECT_NEAR(0.2761, res(0), 0.0001);
+ EXPECT_NEAR(0.3585, res(1), 0.0001);
+}
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/test/loggerTest.cpp b/test/loggerTest.cpp
new file mode 100644
index 0000000..fab2f25
--- /dev/null
+++ b/test/loggerTest.cpp
@@ -0,0 +1,57 @@
+#include "../include/logger.hpp"
+
+class Two {
+
+ public:
+ Two() {
+
+ }
+
+ void WritetoLog() {
+ Logger::Get().log("THIS IS A NEEEEEWWWW TEST!!!!!");
+ Logger::Get().logErr("ERRORRRRRRRR");
+ Logger::Get().printLog();
+ }
+
+ void TryPrint() {
+ Logger::Get().printLog();
+ }
+};
+
+class One {
+
+ public:
+ Two two;
+ One() {
+ two = Two();
+ }
+
+ void OpenLog() {
+ Logger::Get().openLog("output.txt");
+ two.WritetoLog();
+ Logger::Get().closeLog();
+ two.TryPrint();
+ }
+};
+
+
+
+
+int main(int argc, char* argv[]) {
+
+ // Logger::Get().openLog("output.txt");
+ // Logger::Get().log("Testing Info aksdjflkas lksajfdlasjfaowe aslkdjf alskjf asodfj03945430 0349534 5039485 345");
+ // Logger::Get().log("Testing Info Just some stuff");
+ // Logger::Get().log("Testing something words words words");
+ // Logger::Get().logErr("Testing Error lksdj fa 3459374");
+ // Logger::Get().log("Testing blah blah blah blah blah lbal lab lbas labal abala");
+ // Logger::Get().log("Testing Info aksdjflkas l11111111111111111111111111111111111111111485 345");
+ // Logger::Get().logErr("Testing Error Some other type of error");
+ // Logger::Get().logErr("Testing Error Another one");
+ // Logger::Get().closeLog();
+ // //log.printLog();
+
+ One one = One();
+ one.OpenLog();
+
+} \ No newline at end of file
diff --git a/test/motorTest.cpp b/test/motorTest.cpp
new file mode 100644
index 0000000..c570826
--- /dev/null
+++ b/test/motorTest.cpp
@@ -0,0 +1,50 @@
+#include <iostream>
+#include <vector>
+#include <gtest/gtest.h>
+#include "../include/motor.hpp"
+#include "../include/rocketUtils.hpp"
+
+class MotorTest : public ::testing::Test {
+
+ protected:
+
+ MotorTest() {
+
+ m1 = new Motor();
+ }
+
+ //~IMUSensorTest() {}
+
+ Motor *m1;
+};
+
+
+/**
+ * @brief Test a
+ *
+ * **/
+TEST_F(MotorTest, init) {
+
+ Vehicle rocket;
+
+ m1->init((void*)&rocket);
+
+ // ASSERT Statements.....
+}
+
+
+/**
+ * @brief Test a
+ *
+ * **/
+TEST_F(MotorTest, writeData) {
+
+ Vehicle rocket;
+
+ m1->writeData((void*)&rocket);
+
+ // ASSERT Statements.....
+}
+
+
+// TODO: FIGURE OUT WHY MAKING 'rocket' a POINTER CAUSES A SEGFAULT
diff --git a/test/sensorAltimeterTest.cpp b/test/sensorAltimeterTest.cpp
new file mode 100644
index 0000000..7ba9521
--- /dev/null
+++ b/test/sensorAltimeterTest.cpp
@@ -0,0 +1,50 @@
+#include <iostream>
+#include <vector>
+#include <gtest/gtest.h>
+#include "../include/sensorAltimeter.hpp"
+#include "../include/rocketUtils.hpp"
+
+class AltimeterSensorTest : public ::testing::Test {
+
+ protected:
+
+ AltimeterSensorTest() {
+
+ alti = new AltimeterSensor();
+ }
+
+ //~IMUSensorTest() {}
+
+ AltimeterSensor *alti;
+};
+
+
+/**
+ * @brief Test a
+ *
+ * **/
+TEST_F(AltimeterSensorTest, init) {
+
+ Vehicle rocket;
+
+ alti->init((void*)&rocket);
+
+ // ASSERT Statements.....
+}
+
+
+/**
+ * @brief Test a
+ *
+ * **/
+TEST_F(AltimeterSensorTest, getData) {
+
+ Vehicle rocket;
+
+ alti->getData((void*)&rocket.current_altitude);
+
+ // ASSERT Statements.....
+}
+
+
+// TODO: FIGURE OUT WHY MAKING 'rocket' a POINTER CAUSES A SEGFAULT
diff --git a/test/sensorIMUTest.cpp b/test/sensorIMUTest.cpp
new file mode 100644
index 0000000..d16930e
--- /dev/null
+++ b/test/sensorIMUTest.cpp
@@ -0,0 +1,50 @@
+#include <iostream>
+#include <vector>
+#include <gtest/gtest.h>
+#include "../include/sensorIMU.hpp"
+#include "../include/rocketUtils.hpp"
+
+class IMUSensorTest : public ::testing::Test {
+
+ protected:
+
+ IMUSensorTest() {
+
+ imu = new IMUSensor();
+ }
+
+ //~IMUSensorTest() {}
+
+ IMUSensor *imu;
+};
+
+
+/**
+ * @brief Test a
+ *
+ * **/
+TEST_F(IMUSensorTest, init) {
+
+ Vehicle rocket;
+
+ imu->init((void*)&rocket);
+
+ // ASSERT Statements.....
+}
+
+
+/**
+ * @brief Test a
+ *
+ * **/
+TEST_F(IMUSensorTest, getData) {
+
+ Vehicle rocket;
+
+ imu->getData((void*)&rocket);
+
+ // ASSERT Statements.....
+}
+
+
+// TODO: FIGURE OUT WHY MAKING 'rocket' a POINTER CAUSES A SEGFAULT
diff --git a/test/sensor_test.cpp b/test/sensor_test.cpp
new file mode 100644
index 0000000..e4ab5ca
--- /dev/null
+++ b/test/sensor_test.cpp
@@ -0,0 +1,10 @@
+#include <iostream>
+#include "sensorI2C.hpp"
+
+int main (int argc, char** argv) {
+ AltimeterSensor altimeter = new AltimeterSensor("/dev/i2c-2");
+ altimeter.init();
+ for (int i = 0; i < 1000; i++) {
+ std::cout << "Altitude: " << altimeter.getAltitude() << std::endl;
+ }
+}
diff --git a/test/surfaceFitModelTest.cpp b/test/surfaceFitModelTest.cpp
new file mode 100644
index 0000000..f0521b5
--- /dev/null
+++ b/test/surfaceFitModelTest.cpp
@@ -0,0 +1,43 @@
+#include <iostream>
+#include <gtest/gtest.h>
+#include "eigen3/Eigen/Dense"
+#include "../include/surfaceFitModel.hpp"
+
+using namespace Eigen;
+
+class SurfaceFitModelTest : public ::testing::Test {
+
+ protected:
+
+ SurfaceFitModelTest() {
+
+ surfFM = new SurfaceFitModel();
+ }
+
+ //~SurfaceFitModelTest() {}
+
+ SurfaceFitModel *surfFM;
+};
+
+
+/**
+ * @brief Test a
+ *
+ * **/
+TEST_F(SurfaceFitModelTest, getFit1) {
+
+ double res = surfFM->getFit(1, 2);
+
+ EXPECT_NEAR(res, -771671.3793209707, 0.01);
+}
+
+/**
+ * @brief Test a
+ *
+ * **/
+TEST_F(SurfaceFitModelTest, getFit2) {
+
+ double res = surfFM->getFit(33.3, 49);
+
+ EXPECT_NEAR(res, -507325.4658735892, 0.01);
+} \ No newline at end of file
generated by cgit v1.2.3 (git 2.39.1) at 2025-12-12 22:23:01 +0000