54 lines
1.8 KiB
C++
54 lines
1.8 KiB
C++
#include <doctest/doctest.h>
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#include "fgc/ScanGrid.h"
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using namespace fgc;
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TEST_CASE("parseScanCsv reads waypoints and skips comments/blanks") {
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auto pts = parseScanCsv("# header\n\n-90,10\n0, 20 \n90,30\n");
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REQUIRE(pts.size() == 3);
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CHECK(pts[0].yaw_deg == doctest::Approx(-90.0));
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CHECK(pts[1].pitch_deg == doctest::Approx(20.0));
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CHECK(pts[2].yaw_deg == doctest::Approx(90.0));
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}
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TEST_CASE("parseScanCsv throws on a malformed line") {
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CHECK_THROWS(parseScanCsv("0,0\nnonsense\n"));
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CHECK_THROWS(parseScanCsv("1,abc\n"));
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}
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TEST_CASE("generateScanGrid produces yaw_intervals x pitch_levels points") {
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ScanConfig c;
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c.yaw_intervals = 3;
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c.yaw_min_deg = -90;
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c.yaw_max_deg = 90;
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c.pitch_levels = "10,30";
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auto pts = generateScanGrid(c);
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REQUIRE(pts.size() == 6);
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// pitch-major, yaw inner (min -> max)
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CHECK(pts[0].yaw_deg == doctest::Approx(-90.0));
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CHECK(pts[0].pitch_deg == doctest::Approx(10.0));
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CHECK(pts[1].yaw_deg == doctest::Approx(0.0));
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CHECK(pts[2].yaw_deg == doctest::Approx(90.0));
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CHECK(pts[3].pitch_deg == doctest::Approx(30.0));
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}
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TEST_CASE("ScanGrid cursor ping-pongs at both ends") {
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ScanGrid g({{0, 0}, {1, 0}, {2, 0}});
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CHECK(g.current().yaw_deg == doctest::Approx(0.0));
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g.advance(); CHECK(g.current().yaw_deg == doctest::Approx(1.0));
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g.advance(); CHECK(g.current().yaw_deg == doctest::Approx(2.0));
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g.advance(); CHECK(g.current().yaw_deg == doctest::Approx(1.0)); // reversed
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g.advance(); CHECK(g.current().yaw_deg == doctest::Approx(0.0));
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g.advance(); CHECK(g.current().yaw_deg == doctest::Approx(1.0)); // reversed again
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}
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TEST_CASE("ScanGrid single point and empty are safe") {
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ScanGrid one({{5, 5}});
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one.advance();
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CHECK(one.current().yaw_deg == doctest::Approx(5.0));
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ScanGrid none;
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CHECK(none.empty());
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}
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