Add pid_od test

test/tests_od/test_pid/main.c

@@ -0,0 +1,69 @@
+#include <stdio.h>
+#include "unit_test.h"
+#include "od_pid.h"
+
+void unittest_Od_pid(void)
+{
+    NEW_TEST_CASE("pid msg conversion test");
+    {
+        asserv_pid_t pid;
+        asserv_pid_t pid_ref = {1, 2, 3};
+        msg_t msg_ref;
+        msg_t msg;
+
+        NEW_STEP("pid msg conversion FROM test");
+        msg_ref.header.cmd  = PID;
+        msg_ref.header.size = sizeof(asserv_pid_t);
+        memcpy(msg_ref.data, &pid_ref, sizeof(asserv_pid_t));
+        PidOD_PidFromMsg(&pid, &msg_ref);
+        TEST_ASSERT_EQUAL(pid_ref.p, pid.p);
+        TEST_ASSERT_EQUAL(pid_ref.i, pid.i);
+        TEST_ASSERT_EQUAL(pid_ref.d, pid.d);
+        NEW_STEP("pid msg conversion TO test");
+        PidOD_PidToMsg(&pid_ref, &msg);
+        TEST_ASSERT_EQUAL(msg_ref.header.cmd, msg.header.cmd);
+        TEST_ASSERT_EQUAL(msg_ref.header.size, msg.header.size);
+        TEST_ASSERT_EQUAL(((asserv_pid_t *)msg_ref.data)->p, ((asserv_pid_t *)msg.data)->p);
+        TEST_ASSERT_EQUAL(((asserv_pid_t *)msg_ref.data)->i, ((asserv_pid_t *)msg.data)->i);
+        TEST_ASSERT_EQUAL(((asserv_pid_t *)msg_ref.data)->d, ((asserv_pid_t *)msg.data)->d);
+    }
+    NEW_TEST_CASE("pid msg conversion wrong values test");
+    {
+        RESET_ASSERT();
+        asserv_pid_t pid;
+        msg_t msg;
+        TRY
+        {
+            NEW_STEP("pid msg conversion TO wrong msg_t* value test");
+            PidOD_PidToMsg(&pid, NULL);
+        }
+        TEST_ASSERT_TRUE(IS_ASSERT());
+        TRY
+        {
+            NEW_STEP("pid msg conversion TO wrong asserv_pid_t* value test");
+            PidOD_PidToMsg(NULL, &msg);
+        }
+        TEST_ASSERT_TRUE(IS_ASSERT());
+        TRY
+        {
+            NEW_STEP("pid msg conversion FROM wrong msg_t* value test");
+            PidOD_PidFromMsg(&pid, NULL);
+        }
+        TEST_ASSERT_TRUE(IS_ASSERT());
+        TRY
+        {
+            NEW_STEP("pid msg conversion FROM wrong asserv_pid_t* value test");
+            PidOD_PidFromMsg(NULL, &msg);
+        }
+        TEST_ASSERT_TRUE(IS_ASSERT());
+    }
+}
+
+int main(int argc, char **argv)
+{
+    UNITY_BEGIN();
+    ASSERT_ACTIVATION(1);
+    UNIT_TEST_RUN(unittest_Od_pid);
+
+    UNITY_END();
+}

test/tests_od/test_pid/main.h

@@ -0,0 +1,4 @@
+#ifndef MAIN_H
+#define MAIN_H
+
+#endif // MAIN_H