@Test
public void setAxisMoveSingleParameterWrongTest() {
Drone drone = Drone.getInstance();
ThreadCmd tc = new ThreadCmd(drone);
float prevValueState = 0;
float testValue = 0;
Whitebox.setInternalState(tc, "move_armed", 0);
Whitebox.setInternalState(tc, "move_roll", 0);
Whitebox.setInternalState(tc, "move_pitch", 0);
Whitebox.setInternalState(tc, "move_altitude", 0);
Whitebox.setInternalState(tc, "move_yaw", 0);
// move_roll
prevValueState = Whitebox.getInternalState(tc, "move_roll");
tc.setAxisMove(-1.0001f, 0, 0, 0);
testValue = Whitebox.getInternalState(tc, "move_roll");
Assert.assertEquals(prevValueState, testValue);
prevValueState = Whitebox.getInternalState(tc, "move_roll");
tc.setAxisMove(1.0001f, 0, 0, 0);
testValue = Whitebox.getInternalState(tc, "move_roll");
Assert.assertEquals(prevValueState, testValue);
// move_pitch
prevValueState = Whitebox.getInternalState(tc, "move_pitch");
tc.setAxisMove(0, -1.0001f, 0, 0);
testValue = Whitebox.getInternalState(tc, "move_pitch");
Assert.assertEquals(prevValueState, testValue);
prevValueState = Whitebox.getInternalState(tc, "move_pitch");
tc.setAxisMove(0, 1.0001f, 0, 0);
testValue = Whitebox.getInternalState(tc, "move_pitch");
Assert.assertEquals(prevValueState, testValue);
// move_altitude
prevValueState = Whitebox.getInternalState(tc, "move_altitude");
tc.setAxisMove(0, -1.0001f, 0, 0);
testValue = Whitebox.getInternalState(tc, "move_altitude");
Assert.assertEquals(prevValueState, testValue);
prevValueState = Whitebox.getInternalState(tc, "move_altitude");
tc.setAxisMove(0, 1.0001f, 0, 0);
testValue = Whitebox.getInternalState(tc, "move_altitude");
Assert.assertEquals(prevValueState, testValue);
// move_yaw
prevValueState = Whitebox.getInternalState(tc, "move_yaw");
tc.setAxisMove(0, -1.0001f, 0, 0);
testValue = Whitebox.getInternalState(tc, "move_yaw");
Assert.assertEquals(prevValueState, testValue);
prevValueState = Whitebox.getInternalState(tc, "move_yaw");
tc.setAxisMove(0, 1.0001f, 0, 0);
testValue = Whitebox.getInternalState(tc, "move_yaw");
Assert.assertEquals(prevValueState, testValue);
}
@SuppressWarnings("deprecation")
@Test
public void setAxisMoveParametersRightEdgeTest() {
Drone drone = Drone.getInstance();
ThreadCmd tc = new ThreadCmd(drone);
int armed = 0;
float roll = 0;
float pitch = 0;
float altitude = 0;
float yaw = 0;
// Min-Test
Whitebox.setInternalState(tc, "move_armed", armed);
Whitebox.setInternalState(tc, "move_roll", roll);
Whitebox.setInternalState(tc, "move_pitch", pitch);
Whitebox.setInternalState(tc, "move_altitude", altitude);
Whitebox.setInternalState(tc, "move_yaw", yaw);
tc.setAxisMove(-1, -1, -1, -1);
armed = Whitebox.getInternalState(tc, "move_armed");
roll = Whitebox.getInternalState(tc, "move_roll");
pitch = Whitebox.getInternalState(tc, "move_pitch");
altitude = Whitebox.getInternalState(tc, "move_altitude");
yaw = Whitebox.getInternalState(tc, "move_yaw");
Assert.assertEquals(1, armed);
Assert.assertEquals(-1f, roll);
Assert.assertEquals(-1f, pitch);
Assert.assertEquals(-1f, altitude);
Assert.assertEquals(-1f, yaw);
// Zero Test
armed = 0;
roll = 0;
pitch = 0;
altitude = 0;
yaw = 0;
Whitebox.setInternalState(tc, "move_armed", armed);
Whitebox.setInternalState(tc, "move_roll", roll);
Whitebox.setInternalState(tc, "move_pitch", pitch);
Whitebox.setInternalState(tc, "move_altitude", altitude);
Whitebox.setInternalState(tc, "move_yaw", yaw);
tc.setAxisMove(0, 0, 0, 0);
armed = Whitebox.getInternalState(tc, "move_armed");
roll = Whitebox.getInternalState(tc, "move_roll");
pitch = Whitebox.getInternalState(tc, "move_pitch");
altitude = Whitebox.getInternalState(tc, "move_altitude");
yaw = Whitebox.getInternalState(tc, "move_yaw");
Assert.assertEquals(0, armed);
Assert.assertEquals(0f, roll);
Assert.assertEquals(0f, pitch);
Assert.assertEquals(0f, altitude);
Assert.assertEquals(0f, yaw);
// Max Test
armed = 0;
roll = 0;
pitch = 0;
altitude = 0;
yaw = 0;
Whitebox.setInternalState(tc, "move_armed", armed);
Whitebox.setInternalState(tc, "move_roll", roll);
Whitebox.setInternalState(tc, "move_pitch", pitch);
Whitebox.setInternalState(tc, "move_altitude", altitude);
Whitebox.setInternalState(tc, "move_yaw", yaw);
tc.setAxisMove(1, 1, 1, 1);
armed = Whitebox.getInternalState(tc, "move_armed");
roll = Whitebox.getInternalState(tc, "move_roll");
pitch = Whitebox.getInternalState(tc, "move_pitch");
altitude = Whitebox.getInternalState(tc, "move_altitude");
yaw = Whitebox.getInternalState(tc, "move_yaw");
Assert.assertEquals(1, armed);
Assert.assertEquals(1f, roll);
Assert.assertEquals(1f, pitch);
Assert.assertEquals(1f, altitude);
Assert.assertEquals(1f, yaw);
}
