AMiRo-OS

/*

AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.

Copyright (C) 2016..2019  Thomas Schöpping et al.

This program is free software: you can redistribute it and/or modify

it under the terms of the GNU General Public License as published by

the Free Software Foundation, either version 3 of the License, or

(at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

GNU General Public License for more details.

You should have received a copy of the GNU General Public License

along with this program.  If not, see <http://www.gnu.org/licenses/>.

*/

/**

 * @file    aos_test.c

 * @brief   Test code.

 * @details Functions to initialize and run tests,

 *          as well as utility functions to be used in tests.

 *

 * @addtogroup aos_tests

 * @{

 */

#include <amiroos.h>

#if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__)

#include <string.h>

#include <stdarg.h>

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/* LOCAL DEFINITIONS                                                          */

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/* EXPORTED VARIABLES                                                         */

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/* LOCAL TYPES                                                                */

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/* LOCAL VARIABLES                                                            */

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/* LOCAL FUNCTIONS                                                            */

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/* EXPORTED FUNCTIONS                                                         */

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/**

 * @brief   Adds two result objects.

 *

 * @param[in] a   The first summand.

 * @param[in] b   The second summand.

 *

 * @return    Resulting sum of both summands added.

 */

inline aos_testresult_t aosTestResultAdd(aos_testresult_t a, aos_testresult_t b)

{

  a.passed += b.passed;

  a.failed += b.failed;

  return a;

}

/**

 * @brief   Retrieve the total number of tests (passed and failed).

 *

 * @param[in] result    The result object to evaluate.

 *

 * @return  Number of total tests executed.

 */

inline uint32_t aosTestResultTotal(const aos_testresult_t* result)

{

  aosDbgCheck(result != NULL);

  return result->passed + result->failed;

}

/**

 * @brief   Retrieve the ratio of passed tests.

 *

 * @param[in] result    The result object to evaluate.

 *

 * @return  Ratio of passed tests to total tests as float in range [0, 1].

 */

inline float aosTestResultRatio(const aos_testresult_t *result)

{

  aosDbgCheck(result != NULL);

  if (aosTestResultTotal(result) > 0) {

    return (float)result->passed / (float)(aosTestResultTotal(result));

  } else {

    return 1.0f;

  }

}

/**

 * @brief   Print the summary of a test.

 * @details The summary consists of:

 *          - total numer of tests executed

 *          - absolute number of passed tests

 *          - absolute number of failed tests

 *          - relative ratio of passed tests

 *

 * @param[in] stream    Stream to print the result to.

 * @param[in] result    Result to evaluate and print.

 * @param[in] heading   Optional heading (defaults to "summary").

 */

void aosTestResultPrintSummary(BaseSequentialStream *stream, const aos_testresult_t* result, const char* heading)

{

  aosDbgCheck(stream != NULL);

  aosDbgCheck(result != NULL);

  chprintf(stream, "%s:\n", (heading != NULL) ? heading : "summary");

  chprintf(stream, "\ttotal:  %3u\n", aosTestResultTotal(result));

  chprintf(stream, "\tpassed: %3u\n", result->passed);

  chprintf(stream, "\tfailed: %3u\n", result->failed);

  chprintf(stream, "\tratio:  %3u%%\n", (uint8_t)(aosTestResultRatio(result) * 100.0f)); // implicitly rounded off by cast to integer

  return;

}

/**

 * @brief   Run a test.

 *

 * @param[in] stream  A stream for printing messages.

 * @param[in] test    Test to execute.

 * @param[in] note    Optional note string.

 *

 * @return    Result of the test.

 */

aos_testresult_t aosTestRun(BaseSequentialStream *stream, const aos_test_t *test, const char* note)

{

  aosDbgCheck(stream != NULL);

  aosDbgCheck(test != NULL);

  // print name heading

  {

    chprintf(stream, "\n");

    const int nchars = chprintf(stream, "%s test\n", test->name);

    for (int c = 0; c < nchars-1; ++c) {

      chprintf(stream, "=");

    }

    chprintf(stream, "\n");

  }

  // print info (if any)

  if (test->info != NULL) {

    chprintf(stream, "info: %s\n", test->info);

  }

  // print note (if any)

  if (note != NULL) {

    chprintf(stream, "note: %s\n", note);

  }

  chprintf(stream, "\n");

  // run test

  aos_testresult_t result = test->testfunc(stream, test);

  // print summary

  aosTestResultPrintSummary(stream, &result, NULL);

  return result;

}

/**

 * @brief   Helper function for passed tests.

 * @details Prints a message that the test was passed and modifies the result accordigly.

 *

 * @param[in] stream      Stream to print the message to.

 * @param[in,out] result  Result object to modify.

 */

void aosTestPassed(BaseSequentialStream *stream, aos_testresult_t* result)

{

  aosDbgCheck(stream != NULL);

  aosDbgCheck(result != NULL);

  ++result->passed;

  chprintf(stream, "\tPASSED\n");

  chprintf(stream, "\n");

  return;

}

/**

 * @brief   Helper function for passed tests.

 * @details Prints a message that the test was passed, an additional custom message, and modifies the result accordigly.

 *

 * @param[in] stream      Stream to print the message to.

 * @param[in,out] result  Result object to modify.

 * @param[in] fmt         Formatted message string.

 */

void aosTestPassedMsg(BaseSequentialStream *stream, aos_testresult_t* result, const char *fmt, ...)

{

  aosDbgCheck(stream != NULL);

  aosDbgCheck(result != NULL);

  va_list ap;

  ++result->passed;

  chprintf(stream, "\tPASSED\t");

  va_start(ap, fmt);

  chvprintf(stream, fmt, ap);

  va_end(ap);

  chprintf(stream, "\n");

  return;

}

/**

 * @brief   Helper function for failed tests.

 * @details Prints a message that the test was failed and modifies the result accordigly.

 *

 * @param[in] stream      Stream to print the message to.

 * @param[in,out] result  Result object to modify.

 */

void aosTestFailed(BaseSequentialStream *stream, aos_testresult_t* result)

{

  aosDbgCheck(stream != NULL);

  aosDbgCheck(result != NULL);

  ++result->failed;

  chprintf(stream, "\tFAILED\n");

  chprintf(stream, "\n");

  return;

}

/**

 * @brief   Helper function for failed tests.

 * @details Prints a message that the test was failed, an additional custom message, and modifies the result accordigly.

 *

 * @param[in] stream      Stream to print the message to.

 * @param[in,out] result  Result object to modify.

 * @param[in] fmt         Formatted message string.

 */

void aosTestFailedMsg(BaseSequentialStream *stream, aos_testresult_t* result, const char *fmt, ...)

{

  aosDbgCheck(stream != NULL);

  aosDbgCheck(result != NULL);

  va_list ap;

  ++result->failed;

  chprintf(stream, "\tFAILED\t");

  va_start(ap, fmt);

  chvprintf(stream, fmt, ap);

  va_end(ap);

  chprintf(stream, "\n");

  return;

}

/**

 * @brief   Helper function for information messages.

 *

 * @param[in] stream  Strean to rpint the message to.

 * @param[in] fmt     Formatted message string.

 */

void aosTestInfoMsg(BaseSequentialStream* stream, const char* fmt, ...)

{

  aosDbgCheck(stream != NULL);

  va_list ap;

  va_start(ap, fmt);

  chvprintf(stream, fmt, ap);

  va_end(ap);

  chprintf(stream, "\n");

  return;

}

#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */

/** @} */