From 1a230057e93fbb2ae957be625cb7f61b9140b7d5 Mon Sep 17 00:00:00 2001
From: Paul Nykiel <paul.nykiel@gmail.com>
Date: Wed, 28 Dec 2022 22:15:35 +0100
Subject: [PATCH] #45: Test structure for error and mode handler, tests for
 controller

---
 Tests/LowLevel/Application/controller.cpp    | 56 +++++++++++++++++---
 Tests/LowLevel/Application/error_handler.cpp | 15 +++---
 Tests/LowLevel/Application/mode_handler.cpp  | 14 ++---
 3 files changed, 67 insertions(+), 18 deletions(-)

diff --git a/Tests/LowLevel/Application/controller.cpp b/Tests/LowLevel/Application/controller.cpp
index 685bd3b3..733b1db3 100644
--- a/Tests/LowLevel/Application/controller.cpp
+++ b/Tests/LowLevel/Application/controller.cpp
@@ -1,6 +1,50 @@
-/**
- * @file controller.cpp
- * @author paul
- * @date 05.12.22
- * Description here TODO
- */
+#include <gtest/gtest.h>
+
+extern "C" {
+#include <Application/controller.h>
+}
+
+TEST(TEST_NAME, no_error) {
+    imu_data_t imuData{};
+    imuData.roll_mul_16 = 37 * 16;
+    imuData.pitch_mul_16 = -49 * 16;
+    auto controllerCmd = controller_update(&imuData, 37, -49);
+    EXPECT_EQ(controllerCmd.elevon_right, 0);
+    EXPECT_EQ(controllerCmd.elevon_left, 0);
+}
+
+TEST(TEST_NAME, need_roll_right) {
+    imu_data_t imuData{};
+    imuData.roll_mul_16 = -90 * 16;
+    imuData.pitch_mul_16 = -49 * 16;
+    auto controllerCmd = controller_update(&imuData, 90, -49);
+    EXPECT_EQ(controllerCmd.elevon_right, 500);
+    EXPECT_EQ(controllerCmd.elevon_left, -500);
+}
+
+TEST(TEST_NAME, need_roll_left) {
+    imu_data_t imuData{};
+    imuData.roll_mul_16 = 90 * 16;
+    imuData.pitch_mul_16 = -49 * 16;
+    auto controllerCmd = controller_update(&imuData, -90, -49);
+    EXPECT_EQ(controllerCmd.elevon_right, -500);
+    EXPECT_EQ(controllerCmd.elevon_left, 500);
+}
+
+TEST(TEST_NAME, need_pitch_up) {
+    imu_data_t imuData{};
+    imuData.roll_mul_16 = 37 * 16;
+    imuData.pitch_mul_16 = 90 * 16;
+    auto controllerCmd = controller_update(&imuData, 37, -90);
+    EXPECT_EQ(controllerCmd.elevon_right, 500);
+    EXPECT_EQ(controllerCmd.elevon_left, 500);
+}
+
+TEST(TEST_NAME, need_pitch_down) {
+    imu_data_t imuData{};
+    imuData.roll_mul_16 = 37 * 16;
+    imuData.pitch_mul_16 = -90 * 16;
+    auto controllerCmd = controller_update(&imuData, 37, 90);
+    EXPECT_EQ(controllerCmd.elevon_right, -500);
+    EXPECT_EQ(controllerCmd.elevon_left, -500);
+}
diff --git a/Tests/LowLevel/Application/error_handler.cpp b/Tests/LowLevel/Application/error_handler.cpp
index 75feab09..c144ffe4 100644
--- a/Tests/LowLevel/Application/error_handler.cpp
+++ b/Tests/LowLevel/Application/error_handler.cpp
@@ -1,6 +1,9 @@
-/**
- * @file error_handler.cpp
- * @author paul
- * @date 05.12.22
- * Description here TODO
- */
+#include <gtest/gtest.h>
+
+extern "C" {
+#include <Application/error_handler.h>
+}
+
+TEST(TEST_NAME, init) {
+
+}
diff --git a/Tests/LowLevel/Application/mode_handler.cpp b/Tests/LowLevel/Application/mode_handler.cpp
index 51284614..caf6f1fb 100644
--- a/Tests/LowLevel/Application/mode_handler.cpp
+++ b/Tests/LowLevel/Application/mode_handler.cpp
@@ -1,6 +1,8 @@
-/**
- * @file mode_handler.cpp
- * @author Paul Nykiel
- * @date 21.12.22
- * @brief Description here TODO
- */
+#include <gtest/gtest.h>
+
+extern "C" {
+#include <Application/mode_handler.h>
+}
+
+TEST(TEST_NAME, init) {
+}