Cours:ClasseTestServoMoteur

testservomoteur.h #ifndef TESTSERVOMOTEUR_H #define TESTSERVOMOTEUR_H #include <QtTest/QTest> #include <QObject> class TestServoMoteur : public QObject { Q_OBJECT public: explicit TestServoMoteur(QObject *parent = nullptr); private slots: void setPosition_data(); void setPosition(); signals: }; #endif // TESTSERVOMOTEUR_H

testservomoteur.cpp #include "testservomoteur.h" #include "servomoteur.h" #include <QFile> TestServoMoteur::TestServoMoteur(QObject *parent) : QObject{parent} {} void TestServoMoteur::setPosition_data() { QTest::addColumn<double>("offset_ms"); QTest::addColumn<double>("amp_ms"); QTest::addColumn<double>("angle"); QTest::addColumn<int>("duty"); QTest::newRow("") << 1.5 << 0.5 << 0.0 << 1500000; QTest::newRow("") << 1.6 << 0.5 << 0.0 << 1600000; QTest::newRow("") << 1.4 << 0.5 << 0.0 << 1400000; QTest::newRow("") << 1.6 << 0.5 << 0.1 << 1650000; QTest::newRow("") << 1.4 << 0.5 << -0.1 << 1350000; QTest::newRow("") << 1.6 << 0.25 << 0.2 << 1650000; QTest::newRow("") << 1.4 << 0.25 << -0.2 << 1350000; } void TestServoMoteur::setPosition() { QFETCH(double, offset_ms); QFETCH(double, amp_ms); QFETCH(double, angle); QFETCH(int, duty); ServoMoteur servo{offset_ms,amp_ms}; QFile fileDuty{"/sys/class/pwm/pwmchip2/pwm2/duty_cycle"}; QVERIFY(fileDuty.open(QIODevice::ReadOnly)); servo.setPosition(angle); QCOMPARE(duty, fileDuty.readLine().toInt()); fileDuty.close(); }

//main.cpp
#include "testservomoteur.h"
QTEST_MAIN(TestServoMoteur)