We use Google Test as our test framework. Read https://github.com/google/googletest/blob/master/googletest/docs/primer.md to understand how to use the available macros for defining test cases.

All the tests must be named in the following manner.

TEST(testName, testMethodName) { ... }

testName should include the name of the package, e.g. controlDeMuxBlock or safetyEventTest. This allows for running only the tests in a certain package. testMethodName can be any meaningful name to identify the test method.

Make sure to compile the unit tests with the cmake argument -DUSE_TESTS=TRUE. Navigate to the directory test of the build directory of eeros and run the tests as follows.:

$ ./unitTests  --library sim                  // run all the tests using the simulator as hal
$ ./unitTests  -l sim                         // run all the tests using the simulator, short option
$ ./unitTests  -l flink                       // run all the tests using flink, short option
$ ./unitTests  -l comedi                      // run all the tests using comedi, short option
$ ./unitTests  --gtest_filter=control*        // run all the tests in control
$ ./unitTests  --gtest_filter=math*           // run all the tests in math
$ ./unitTests  --gtest_filter=mathMatrix*     // run all the tests in math/Matrix
$ ./unitTests  --gtest_filter=-hal*           // run all the tests without hal
$ ./unitTests  -l sim --gtest_filter=hal*     // run all the tests in hal using the simulator

For the test with the HAL you need to install the simulator.