#251: Remove debug print and fix tests

bitcraze · Dec 5, 2017 · 18cdacf · 18cdacf
1 parent be8bbc5
commit 18cdacf
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Showing 2 changed files with 54 additions and 5 deletions.
diff --git a/src/deck/drivers/src/lpsTdoaTag.c b/src/deck/drivers/src/lpsTdoaTag.c
@@ -272,14 +272,10 @@ static void setRadioInReceiveMode(dwDevice_t *dev) {
   dwStartReceive(dev);
 }
 
-#include "debug.h"
-
 static uint32_t onEvent(dwDevice_t *dev, uwbEvent_t event) {
   switch(event) {
     case eventPacketReceived:
       if (rxcallback(dev)) {
-        DEBUG_PRINT("Sending LPP short packet ...");
-
         lppPacketToSend = false;
       } else {
         setRadioInReceiveMode(dev);

diff --git a/test/deck/drivers/src/TestLpsTdoaTag.c b/test/deck/drivers/src/TestLpsTdoaTag.c
@@ -353,6 +353,12 @@ void testMissingTimestampInhibitsClockDriftCalculationInFirstIteration() {
   mockKalmanEstimator(5, 0, -expectedDiff);
   mockKalmanEstimator(0, 5, expectedDiff);
 
+  lpsGetLppShort_IgnoreAndReturn(false);
+  lpsGetLppShort_IgnoreAndReturn(false);
+  lpsGetLppShort_IgnoreAndReturn(false);
+  lpsGetLppShort_IgnoreAndReturn(false);
+  lpsGetLppShort_IgnoreAndReturn(false);
+
   // Test
   uwbTdoaTagAlgorithm.onEvent(&dev, eventPacketReceived);
   uwbTdoaTagAlgorithm.onEvent(&dev, eventPacketReceived);
@@ -411,6 +417,12 @@ void testMissingPacketAnchorToAnchorInhibitsDiffCalculation() {
   // mockKalmanEstimator(5, 0, -expectedDiff);
   mockKalmanEstimator(0, 5, expectedDiff);
 
+  lpsGetLppShort_IgnoreAndReturn(false);
+  lpsGetLppShort_IgnoreAndReturn(false);
+  lpsGetLppShort_IgnoreAndReturn(false);
+  lpsGetLppShort_IgnoreAndReturn(false);
+  lpsGetLppShort_IgnoreAndReturn(false);
+
   // Test
   uwbTdoaTagAlgorithm.onEvent(&dev, eventPacketReceived);
   uwbTdoaTagAlgorithm.onEvent(&dev, eventPacketReceived);
@@ -469,6 +481,12 @@ void testMissingAnchorToAnchorDistanceInhibitsDiffCalculation() {
   // mockKalmanEstimator(5, 0, -expectedDiff);
   mockKalmanEstimator(0, 5, expectedDiff);
 
+  lpsGetLppShort_IgnoreAndReturn(false);
+  lpsGetLppShort_IgnoreAndReturn(false);
+  lpsGetLppShort_IgnoreAndReturn(false);
+  lpsGetLppShort_IgnoreAndReturn(false);
+  lpsGetLppShort_IgnoreAndReturn(false);
+
   // Test
   uwbTdoaTagAlgorithm.onEvent(&dev, eventPacketReceived);
   uwbTdoaTagAlgorithm.onEvent(&dev, eventPacketReceived);
@@ -526,6 +544,12 @@ void testMissingPacketPacketAnchorToAnchorInhibitsDiffCalculation() {
   // mockKalmanEstimator(5, 0, -expectedDiff);
   mockKalmanEstimator(0, 5, expectedDiff);
 
+  lpsGetLppShort_IgnoreAndReturn(false);
+  lpsGetLppShort_IgnoreAndReturn(false);
+  lpsGetLppShort_IgnoreAndReturn(false);
+  lpsGetLppShort_IgnoreAndReturn(false);
+  lpsGetLppShort_IgnoreAndReturn(false);
+
   // Test
   uwbTdoaTagAlgorithm.onEvent(&dev, eventPacketReceived);
   uwbTdoaTagAlgorithm.onEvent(&dev, eventPacketReceived);
@@ -583,6 +607,12 @@ void testMissingPacketPacketAnchorToAnchorInhibitsDiffCalculationWhenSequenceNrW
   // mockKalmanEstimator(5, 0, -expectedDiff);
   mockKalmanEstimator(0, 5, expectedDiff);
 
+  lpsGetLppShort_IgnoreAndReturn(false);
+  lpsGetLppShort_IgnoreAndReturn(false);
+  lpsGetLppShort_IgnoreAndReturn(false);
+  lpsGetLppShort_IgnoreAndReturn(false);
+  lpsGetLppShort_IgnoreAndReturn(false);
+
   // Test
   uwbTdoaTagAlgorithm.onEvent(&dev, eventPacketReceived);
   uwbTdoaTagAlgorithm.onEvent(&dev, eventPacketReceived);
@@ -649,6 +679,13 @@ void testMissingPacketAnchorToTagInhibitsDiffCalculation() {
   // Not called since previous packet from same anchor was lost
   //  mockKalmanEstimator(5, 0, -expectedDiff);
 
+  lpsGetLppShort_IgnoreAndReturn(false);
+  lpsGetLppShort_IgnoreAndReturn(false);
+  lpsGetLppShort_IgnoreAndReturn(false);
+  lpsGetLppShort_IgnoreAndReturn(false);
+  lpsGetLppShort_IgnoreAndReturn(false);
+  lpsGetLppShort_IgnoreAndReturn(false);
+
   // Test
   uwbTdoaTagAlgorithm.onEvent(&dev, eventPacketReceived);
   uwbTdoaTagAlgorithm.onEvent(&dev, eventPacketReceived);
@@ -671,6 +708,8 @@ void testPacketReceivedEventShouldSetTheRadioInReceiveMode() {
 
   ignoreKalmanEstimatorValidation();
 
+  lpsGetLppShort_IgnoreAndReturn(false);
+
   // Test
   uint32_t actual = uwbTdoaTagAlgorithm.onEvent(&dev, eventPacketReceived);
 
@@ -682,6 +721,8 @@ void testEventTimeoutShouldSetTheRadioInReceiveMode() {
   // Fixture
   mockRadioSetToReceiveMode();
 
+  lpsGetLppShort_IgnoreAndReturn(false);
+
   // Test
   uint32_t actual = uwbTdoaTagAlgorithm.onEvent(&dev, eventTimeout);
 
@@ -693,6 +734,8 @@ void testEventReceiveTimeoutShouldSetTheRadioInReceiveMode() {
   // Fixture
   mockRadioSetToReceiveMode();
 
+  lpsGetLppShort_IgnoreAndReturn(false);
+
   // Test
   uint32_t actual = uwbTdoaTagAlgorithm.onEvent(&dev, eventReceiveTimeout);
 
@@ -859,6 +902,10 @@ void verifyDifferenceOfDistanceWithNoClockDriftButConfigurableClockOffset(uint64
   // Only the last message will create calls to the estimator. The two first are discarded due to missing data.
   mockKalmanEstimator(0, 1, expectedDiff);
 
+  lpsGetLppShort_IgnoreAndReturn(false);
+  lpsGetLppShort_IgnoreAndReturn(false);
+  lpsGetLppShort_IgnoreAndReturn(false);
+
   // Test
   uwbTdoaTagAlgorithm.onEvent(&dev, eventPacketReceived);
   uwbTdoaTagAlgorithm.onEvent(&dev, eventPacketReceived);
@@ -919,6 +966,12 @@ void verifyDifferenceOfDistanceWithTwoAnchors3FramesWithClockDrift(float driftTa
   mockKalmanEstimator(5, 0, -expectedDiff);
   mockKalmanEstimator(0, 5, expectedDiff);
 
+  lpsGetLppShort_IgnoreAndReturn(false);
+  lpsGetLppShort_IgnoreAndReturn(false);
+  lpsGetLppShort_IgnoreAndReturn(false);
+  lpsGetLppShort_IgnoreAndReturn(false);
+  lpsGetLppShort_IgnoreAndReturn(false);
+
   // Test
   uwbTdoaTagAlgorithm.onEvent(&dev, eventPacketReceived);
   uwbTdoaTagAlgorithm.onEvent(&dev, eventPacketReceived);
@@ -928,4 +981,4 @@ void verifyDifferenceOfDistanceWithTwoAnchors3FramesWithClockDrift(float driftTa
 
   // Assert
   // Nothing here, verification in mocks
-}
+}