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@robacarp robacarp/test.ino
Created Jun 29, 2015

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#include "tones.h"
#define b(v)
// Serial.println( v ? "true" : "false" );
#define p(a)
// Serial.print(a);
#define q(a,b)
// Serial.print(a,b);
boolean tests_pass = true;
void assert(bool test){
if (test) {
p('.');
} else {
tests_pass = false;
p('#');
}
}
bool test_tests(){
if ( ! tests_pass ) return false;
assert(false);
if ( tests_pass ) return false;
tests_pass = true;
return tests_pass;
}
bool test_state_machine() {
// not passing initially
assert( ! password.completed() );
// random advances don't do anything
password.advance_state(0x8);
password.advance_state(0x3);
assert( password.current_state() == 0 );
// advancing state once, then resetting with an incorrect value
password.advance_state(0x1);
assert( password.current_state() == 1 );
password.advance_state(0x8);
assert( password.current_state() == 0 );
// the first number multiple times
password.advance_state(0x1);
password.advance_state(0x1);
assert( password.current_state() == 1 );
password.advance_state(0x1);
assert( password.current_state() == 1 );
// first, second, third, first
password.advance_state(0x1);
assert( password.current_state() == 1 );
assert( ! password.completed() );
password.advance_state(0x2);
assert( password.current_state() == 2 );
assert( ! password.completed() );
password.advance_state(0x4);
assert( password.current_state() == 3 );
assert( ! password.completed() );
password.advance_state(0x1);
assert( password.current_state() == 1 );
assert( ! password.completed() );
// correct password
password.reset();
assert( ! password.completed() );
password.advance_state(0x1);
password.advance_state(0x2);
password.advance_state(0x4);
password.advance_state(0x8);
assert( password.current_state() >= 4 );
assert( password.completed() );
password.reset();
return tests_pass;
}
// Negative Longitude is West.
// Negative Latitude is South.
// Testing the haversine to be accurate to <1% error
bool test_gps(){
double distance, lat_a, lon_a, lat_b, lon_b, lat_c, lon_c, expected, delta;
// 41.6076N, 88.2037W
// 35.1346N, 85.3584W
// 760.2 km says wolframalpha
lat_a = 41.6076;
lon_a = -88.2037;
lat_b = 35.1346;
lon_b = -85.3584;
distance = GPS::coordinate_distance(lat_a, lon_a, lat_b, lon_b);
expected = 760.2;
delta = 760.2 - distance;
assert(delta / expected < 0.01);
// 41.6076N, 88.2037W
// 41.6507N, 88.2555W
// 6.442 km
lat_a = 41.6076;
lon_a = -88.2037;
lat_b = 41.6507;
lon_b = -88.2555;
distance = GPS::coordinate_distance(lat_a, lon_a, lat_b, lon_b);
expected = 6.442;
delta = expected - distance;
assert(delta / expected < 0.01);
// test that we can enter the target destination and we actually unlock
lat_c = 35.1346;
lon_c = -85.3584;
gps.target_latitude = lat_a;
gps.target_longitude = lon_a;
gps.precision = 3;
gps.sentences = 3;
// ~760km
gps.latitude = lat_c;
gps.longitude = lon_c;
gps.distance_to_target();
assert( ! gps.at_target() );
// ~6km
gps.latitude = lat_b;
gps.longitude = lon_b;
gps.distance_to_target();
assert( ! gps.at_target() );
// <1km
gps.latitude = lat_a;
gps.longitude = lon_a;
gps.distance_to_target();
assert( gps.at_target() );
return tests_pass;
}
bool test_music(){
assert( C == 32.7 );
assert( NOTE(C, 2) == 65.4 );
assert( NOTE(A, 4) == 440.0 );
assert( PWM_WAIT( NOTE( C, 3 ) ) == 3822 );
assert( PWM_WAIT( NOTE( A, 4 ) ) == 1136 );
return tests_pass;
}
bool test(){
return test_tests() && test_state_machine() && test_gps() && test_music();
}
void test_lock(){
p("\n\nSelf Test:");
bool result = test();
if ( result ) {
gps.reset();
p(": Pass\n");
digitalWrite(13, HIGH);
delay(500);
digitalWrite(13, LOW);
delay(50);
digitalWrite(13, HIGH);
delay(50);
digitalWrite(13, LOW);
return;
}
// heartbeat blinkenlight on fail
unsigned int mils;
while( true ) {
mils = millis() % 500;
if (mils > 100 && mils < 150 ||
mils > 200 && mils < 250
) {
digitalWrite(13, true);
} else {
digitalWrite(13, false);
}
}
}
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