added another test

README.md

@@ -46,5 +46,16 @@ ctest
 - add functions to load saved configs
 
 
+###Mocking the TWI/I2C
+
+The twi needs to be mocked or faked correctly to make the testing
+of the functions doable.
+
+The best way I can find to handle this is with a buffer of twi data
+that simulate registers that the program reads/writes to.
+
+This is handled by using function pointers for the tx and rx of i2c/twi data.
+
+
 
 

src/gy521_driver/gy521_driver.c

@@ -4,7 +4,18 @@
  * Description: The implimentation file for the gy521 module, assumes TWI/I2c
  */
 #include "gy521_driver.h"
-#include <stdint.h>
+
+/*
+ * ############################
+ * MACROS 
+ * ############################
+ */ 
+
+/*DEBUG macro*/
+#define DEBUG
+#define debug_print(fmt, ...) \
+            do { if (DEBUG) fprintf(stderr, fmt, __VA_ARGS__); } while (0)
+
 
 /*Stuff for cmocka*/
 #if UNIT_TESTING
@@ -16,51 +27,16 @@ extern void _test_free(void* const ptr, const char* file, const int line);
 #define malloc(size) _test_malloc(size, __FILE__, __LINE__)
 #define calloc(num, size) _test_calloc(num, size, __FILE__, __LINE__)
 #define free(ptr) _test_free(ptr, __FILE__, __LINE__)
+
+/*Mock assertions: redefines assert() calls*/
+extern void mock_assert(const int result, const char* const expression, 
+                        const char * const file, const int line);
+#undef assert
+#define assert(expression) \
+    mock_assert((int)(expression), #expression, __FILE__, __LINE__);
+
 #endif // UNIT_TESTING
 
-#define     NUM_ACCEL_REGS  6
-#define     NUM_GYRO_REGS   6
-
-/*
- * ############################
- * REGISTER MAP 
- * ############################
- */ 
-
-enum gy521_map {
-    accel_xouth = 0x3B,
-    accel_xoutl,
-    accel_youth,
-    accel_youtl,
-    accel_zouth,
-    accel_zoutl,
-    temp_outh,
-    temp_outl,
-    gyro_xouth,
-    gyro_xoutl,
-    gyro_youth,
-    gyro_youtl,
-    gyro_zouth,
-    gyro_zoutl,
-    fifo_couth = 0x72,
-    fifo_contl,
-    fifo_r_w,
-    who_am_i,
-};
-
-/*
- * ############################
- * Structures 
- * ############################
- */ 
-
-
-
-struct gy521_module{
-    uint8_t slave_address;
-    gyro_values_struct gyro;
-    accel_values_struct accel;
-};
 
 /*
  * ############################
@@ -82,7 +58,8 @@ uint8_t read_register(gy521_module *m, enum gy521_map reg)
 
 void write_register(gy521_module *m, enum gy521_map reg, uint8_t data)
 {
-    gy521_twi_tx(m->slave_address, (uint8_t *) &reg, data);
+    uint8_t in_data = reg;
+    gy521_twi_tx(m->slave_address, &in_data, 2);
 }
 
 
@@ -132,8 +109,10 @@ void gy521_update_accel(gy521_module *m)
     /*We shift the High byte over by 8 for a u16*/
     m->accel.x = read_register(m, accel_xouth) <<8;
     m->accel.x |= read_register(m, accel_xoutl);
+    
     m->accel.y = read_register(m, accel_youth) <<8;
     m->accel.y |= read_register(m, accel_youtl);
+    
     m->accel.z = read_register(m, accel_zouth) <<8;
     m->accel.z |= read_register(m, accel_zoutl);
 }
@@ -143,8 +122,10 @@ void gy521_update_gyro(gy521_module *m)
     /*We shift the High byte over by 8 for a u16*/
     m->gyro.x = read_register(m, gyro_xouth) <<8;
     m->gyro.x |= read_register(m, gyro_xoutl);
+    
     m->gyro.y = read_register(m, gyro_youth) <<8;
     m->gyro.y |= read_register(m, gyro_youtl);
+
     m->gyro.z = read_register(m, gyro_zouth) <<8;
     m->gyro.z |= read_register(m, gyro_zoutl);
 }
@@ -168,3 +149,101 @@ struct gyro_values gy521_get_gyro(struct gy521_module* m)
     s.z = m->gyro.z;
     return s;
 }
+
+
+void enable_self_test_gyro(struct gy521_module* m)
+{
+    /*Set the values in the GYRO_CONFIG register*/
+    /*According to the datasheet setting it for 250 is needed*/
+    uint8_t reg = XG_ST + YG_ST + ZG_ST + FS_SEL_250;
+    write_register(m, gyro_config, reg);
+}
+
+void disable_self_test_gyro(struct gy521_module* m)
+{
+    write_register(m, gyro_config, 0x00);
+}
+
+struct ft_vals self_test_ft_calculation(struct gy521_module* m)
+{
+
+    /*We make an array with 0 --> x, 1--> y, 2-->z*/
+    float factory_trim_vals[3];
+    uint8_t gyro_test[3] = {0};
+    
+    
+    for(uint8_t i = 0; i < 3; i++) {
+        /*Reads the registers for self testing the gyro*/
+        gyro_test[i] = read_register(m, self_test_x + i) & 0x0F;
+
+        /*Skip doing calculations if the test value is zero*/
+        if(gyro_test[i] == 0){
+            factory_trim_vals[i] = 0;
+            continue;
+        }
+        else if(gyro_test[i] == 1) {
+            factory_trim_vals[i] = 1;
+        }
+        else {
+            factory_trim_vals[i] = 1.046;
+            for(uint8_t j = 0; j < (gyro_test[i] - 1); j++){
+                factory_trim_vals[i] *= 1.046;    
+            }
+        }
+        factory_trim_vals[i] *= (25 * 131);
+    } 
+
+    struct ft_vals ft;
+    ft.x = factory_trim_vals[0];
+    ft.y = factory_trim_vals[1];
+    ft.z = factory_trim_vals[2];
+
+    return ft;
+}
+
+/*Self Test register functions*/
+self_test_results gy521_self_test(struct gy521_module* m)
+{
+
+    /*0. Enable self test*/
+    enable_self_test_gyro(m); 
+
+    /*1. read the reg FT values*/ 
+    /*2. calulate the FT using the formula from the datasheet*/
+    struct ft_vals factory_trim = self_test_ft_calculation(m);
+  
+    /*3. Read the STR data from the gyro*/
+    gy521_update_gyro(m);
+    struct gyro_values STR = m->gyro;
+
+    /*4. Disable the self test mode.*/
+    disable_self_test_gyro(m);
+    
+    /*5. Now get the normal gyro data*/  
+    gy521_update_gyro(m);
+
+    /*6. Finish the STR calculation*/
+    STR.x -= m->gyro.x;
+    STR.y -= m->gyro.y;
+    STR.z -= m->gyro.z;
+
+    /*7. Now we calculate the change from the FT of the STR*/
+    float testing_value = ( ((float)STR.x) - factory_trim.x) / factory_trim.x;
+    if(testing_value > GYRO_MAX_ST || testing_value < GYRO_MIN_ST) {
+        return gyro_failed;
+    }
+
+    testing_value = ( ((float)STR.y) - factory_trim.y) / factory_trim.y;
+    if(testing_value > GYRO_MAX_ST || testing_value < GYRO_MIN_ST) {
+        return gyro_failed;
+    }
+
+    testing_value = ( ((float)STR.z) - factory_trim.z) / factory_trim.z;
+    if(testing_value > GYRO_MAX_ST || testing_value < GYRO_MIN_ST) {
+        return gyro_failed;
+    }
+
+    /*Return that we passed the self test if it's within parameters*/
+    return passed;
+}
+

src/gy521_driver/gy521_driver.h

@@ -6,8 +6,7 @@
 
 #ifndef GY521_DRIVER_H
 #define GY521_DRIVER_H
-
-#include <stdint.h>
+#include "gy521_interface.h"
 #include <stdlib.h>
 
 /*
@@ -16,15 +15,31 @@
  * ############################
  */
 
-#define     STARTUP_DELAY 30 //in ms
-#define     TWI_GY521_ADDR1 0x68    //ADO Logic Low
-#define     TWI_GY521_ADDR2 0x69    //ADO Logic High
+#define     NUM_ACCEL_REGS  6
+#define     NUM_GYRO_REGS   6
+
+/*GYRO MIN MAX PARAMETERS(percentage)*/
+#define     GYRO_MIN_ST -14
+#define     GYRO_MAX_ST 14
+
+
+/*GYRO_CONFIG*/
+#define     XG_ST   (1<<7)
+#define     YG_ST   (1<<6)
+#define     ZG_ST   (1<<5)
+#define     FS_SEL_MSK  0x18//0b00011000 
+#define     FS_SEL_250  0
+#define     FS_SEL_500  (1<<3)
+#define     FS_SEL_1000 (1<<4)
+#define     FS_SEL_2000 (1<<4)|(1<<3)
+
 
 /*
  * ############################
  * Types/Structures 
  * ############################
  */
+
 typedef struct gyro_values{
     uint16_t x;
     uint16_t y;
@@ -37,7 +52,115 @@ typedef struct accel_values{
     uint16_t z;
 }accel_values_struct;
 
-typedef struct gy521_module gy521_module;
+struct gy521_module{
+    uint8_t slave_address;
+    gyro_values_struct gyro;
+    accel_values_struct accel;
+};
+
+struct ft_vals{
+    float   x;
+    float   y;
+    float   z;
+};
+
+
+
+/*
+ * ############################
+ * REGISTER MAP 
+ * ############################
+ */ 
+
+/*This thing is fairly huge, but it's got pretty much all the registers
+ * on it.*/
+
+enum gy521_map {
+    self_test_x = 0x0D,
+    self_test_y,
+    self_test_z,
+    self_test_a,
+    smplrt_div = 0x19,
+    config,
+    gyro_config,
+    accel_config,
+    fifo_en = 0x23,
+    i2c_mst_ctrl,
+    i2c_slv0_addr,
+    i2c_slv0_reg,
+    i2c_slv0_ctrl,
+    i2c_slv1_addr,
+    i2c_slv1_reg,
+    i2c_slv1_ctrl,
+    i2c_slv2_addr,
+    i2c_slv2_reg,
+    i2c_slv2_ctrl,
+    i2c_slv3_addr,
+    i2c_slv3_reg,
+    i2c_slv3_ctrl,
+    i2c_slv4_addr,
+    i2c_slv4_reg,
+    i2c_slv4_do,
+    i2c_slv4_ctrl,
+    i2c_slv4_di,
+    i2c_mst_status,
+    int_pin_cfg,
+    int_enable,
+    int_status,
+    accel_xouth = 0x3B,
+    accel_xoutl,
+    accel_youth,
+    accel_youtl,
+    accel_zouth,
+    accel_zoutl,
+    temp_outh,
+    temp_outl,
+    gyro_xouth,
+    gyro_xoutl,
+    gyro_youth,
+    gyro_youtl,
+    gyro_zouth,
+    gyro_zoutl,
+	ext_sens_data_00,
+	ext_sens_data_01,
+	ext_sens_data_02,
+	ext_sens_data_03,
+	ext_sens_data_04,
+	ext_sens_data_05,
+	ext_sens_data_06,
+	ext_sens_data_07,
+	ext_sens_data_08,
+	ext_sens_data_09,
+	ext_sens_data_10,
+	ext_sens_data_11,
+	ext_sens_data_12,
+	ext_sens_data_13,
+	ext_sens_data_14,
+	ext_sens_data_15,
+	ext_sens_data_16,
+	ext_sens_data_17,
+	ext_sens_data_18,
+	ext_sens_data_19,
+	ext_sens_data_20,
+	ext_sens_data_21,
+	ext_sens_data_22,
+	ext_sens_data_23,
+	i2c_slv0_do,
+	i2c_slv1_do,
+	i2c_slv2_do,
+	i2c_slv3_do,
+    i2c_mst_delay_ctrl,
+    signal_path_reset,
+    user_ctrl,
+    pwr_mgmt_1,
+    pwr_mgmt_2,
+    fifo_couth = 0x72,
+    fifo_contl,
+    fifo_r_w,
+    who_am_i,
+};
+
+
 
 /*
  * ############################
@@ -45,22 +168,22 @@ typedef struct gy521_module gy521_module;
  * ############################
  */ 
 
+gy521_module* gy521_new(void);
 
-/*Function pointers for the TX and RX fuctionality*/
+void disable_self_test_gyro(struct gy521_module* m);
+void enable_self_test_gyro(struct gy521_module* m);
+struct ft_vals self_test_ft_calculation(struct gy521_module* m);
+self_test_results gy521_self_test(struct gy521_module* m);
 
-extern void (*gy521_twi_tx)(uint8_t, uint8_t*, uint8_t);
-extern void (*gy521_twi_rx)(uint8_t, uint8_t*, uint8_t);
+uint8_t read_register(gy521_module *m, enum gy521_map reg);
+void write_register(gy521_module *m, enum gy521_map reg, uint8_t data);
 
 
-struct gy521_module* gy521_new(void);
-_Bool gy521_init(struct gy521_module *m, uint8_t slave_address);
-void gy521_update_gyro(struct gy521_module* m);
-void gy521_update_accel(struct gy521_module* m);
-void gy521_free(struct gy521_module *m);
-
 /*These are used instead of direct access; assuming interrupt driven*/
 /*updates to the gy521 then it protects the user from using volatile values*/
 struct accel_values gy521_get_accel(struct gy521_module* m);
 struct gyro_values gy521_get_gyro(struct gy521_module* m);
 
+
+
 #endif /* GY521_DRIVER_H */   

src/gy521_driver/gy521_interface.h

@@ -0,0 +1,56 @@
+/*
+ * Author: Jake Goodwin
+ * Filename: interface.h
+ * Description: The file you should include for normal use.
+ */
+
+/*Function pointers for the TX and RX fuctionality*/
+
+#ifndef _GY521_INTERFACE_H
+#define _GY521_INTERFACE_H
+
+#include "stdint.h"
+
+/*
+ * ############################
+ * DEFINES 
+ * ############################
+ */ 
+
+#define     STARTUP_DELAY 30 //in ms
+#define     TWI_GY521_ADDR1 0x68    //ADO Logic Low
+#define     TWI_GY521_ADDR2 0x69    //ADO Logic High
+
+/*
+ * ############################
+ * Structures & Typedefs 
+ * ############################
+ */ 
+
+
+typedef struct gy521_module gy521_module;
+
+typedef enum{
+    passed = 0,
+    gyro_failed,
+    accel_failed,
+}self_test_results;
+
+
+/*
+ * ############################
+ * Fuction Prototypes
+ * ############################
+ */ 
+
+extern void (*gy521_twi_tx)(uint8_t, uint8_t*, uint8_t);
+extern void (*gy521_twi_rx)(uint8_t, uint8_t*, uint8_t);
+
+
+struct gy521_module* gy521_new(void);
+_Bool gy521_init(struct gy521_module *m, uint8_t slave_address);
+void gy521_update_gyro(struct gy521_module* m);
+void gy521_update_accel(struct gy521_module* m);
+void gy521_free(struct gy521_module *m);
+
+#endif

tests/gy521_driver/test_gy521_driver.c

@@ -1,3 +1,4 @@
+#include <stdio.h>
 #include <stdarg.h>
 #include <stddef.h>
 #include <stdint.h>
@@ -7,6 +8,7 @@
 #include "gy521_driver.h"
 
 #define WRITE_BIT   (1<<7)
+#define     REG_SIZE    32 
 
 typedef struct reg_addr{
     uint8_t dev_addr;
@@ -14,40 +16,61 @@ typedef struct reg_addr{
     uint8_t value;
 }reg_addr;
 
-reg_addr reg_addr_arr[16] = {{0x0, 0x0, 0x0}};
+reg_addr reg_addr_arr[REG_SIZE] = {{0x0, 0x0, 0x0}};
 uint8_t idx = 0;
 
+void mock_twi_tx(uint8_t slave_addr, uint8_t *data, uint8_t size)
+{
+    check_expected(slave_addr);
+    check_expected_ptr(data);
+    check_expected(size);
+
+}
+
+
+
 /* Fake Object for TWI_TX*/
 void fake_twi_tx(uint8_t slave_addr, uint8_t *data, uint8_t size)
 {
-    /*Save the slave address passed*/
-    reg_addr_arr[0].dev_addr = slave_addr;
+    /*read the device address.*/
+    reg_addr_arr[idx].dev_addr = slave_addr;
+
+    /*Save the register it's trying to access.*/
+    reg_addr_arr[idx].addr = *data;
+
+    /*Save the data it's sending to that address.*/
+    reg_addr_arr[idx].value = *(data + 1);
 
-    /*Now write all the passed data*/
-    for(; idx < size; idx++) {
-        reg_addr_arr[idx].addr = *(data);
-        reg_addr_arr[idx].value = *(++data);
-    } 
     /*Post increment the global index*/
     idx++;
+    if(idx > REG_SIZE){
+        idx = 0;
+    }
+    
+    /*Make use of recursion if there is still more data*/
+    if((size - 2) > 0) {
+        fake_twi_tx(slave_addr, data + 2, size - 2);
+    } 
 }
 
 /* Fake Object for TWI_RX*/
 void fake_twi_rx(uint8_t slave_addr, uint8_t *data, uint8_t size)
 {
-    /*Save the slave address passed*/
-    reg_addr_arr[0].dev_addr = slave_addr;
+
+    /*Read the device address*/
+    reg_addr_arr[idx].dev_addr = slave_addr;
+
+    /*Put down the register address it's trying to read.*/ 
+    reg_addr_arr[idx].addr = *data;
     
-    /*Read the registers requested*/
-    for(uint8_t i = 0; i < size; i++) {
-        /*Wridxte the register read address*/
-        reg_addr_arr[i + idx].addr = *(data + i);
-        
-        /*Read the response value into the pased data ptr*/
-        *(data + i) = reg_addr_arr[i + idx].value;
-    }
+    /*Fill it with the data from the register*/
+    *data = reg_addr_arr[idx].value;
+
     /*Post increment the global index*/
     idx++;
+    if(idx > REG_SIZE){
+        idx = 0;
+    }
 }
 
 
@@ -56,6 +79,59 @@ void fake_twi_rx(uint8_t slave_addr, uint8_t *data, uint8_t size)
 void (*gy521_twi_tx)(uint8_t, uint8_t*, uint8_t) = &fake_twi_tx;
 void (*gy521_twi_rx)(uint8_t, uint8_t*, uint8_t) = &fake_twi_rx;
 
+/*
+ * ############################
+ * Helper functions
+ * ############################
+ */ 
+
+
+
+void print_reg_arr(void)
+{
+    printf("FAKE REGISTERS::\n");
+    for(uint8_t i = 0; i < REG_SIZE; i++){
+        print_error("%d:: val: %d, addr: %d, dev_addr: %d\n",
+                i, 
+                reg_addr_arr[i].value,
+                reg_addr_arr[i].addr,
+                reg_addr_arr[i].dev_addr);
+    }
+}
+
+void clear_twi(void)
+{
+    idx = 0;
+    for(int i = 0; i < REG_SIZE; i++){
+        reg_addr_arr[i].value = 0;
+        reg_addr_arr[i].addr = 0;
+        reg_addr_arr[i].dev_addr = 0;
+    }
+}
+
+
+static int setup_gy521_instance(void **state)
+{
+    clear_twi();
+    *state = gy521_new();
+    assert_non_null(*state);
+    return 0;
+}
+
+static int teardown_gy521_instance(void **state)
+{
+    gy521_free(*state);
+    clear_twi();
+    return 0;
+}
+
+
+/*
+ * ############################
+ * TESTS
+ * ############################
+ */ 
+
 /* Tests the donothing function */ 
 static void test_gy521_init(void **state) { 
     gy521_module *m = gy521_new();
@@ -136,7 +212,7 @@ static void test_gy521_update_gyro(void **sate)
     gy521_init(m, TWI_GY521_ADDR1);
     
     /*Setup the fake gyro values.*/
-    for(uint8_t i = 0; i < 6; i++) {
+    for(uint8_t i = 1; i < 7; i++) {
         reg_addr_arr[i].value = i * 8;
     }
   
@@ -167,14 +243,144 @@ static void test_gy521_update_gyro(void **sate)
 }
 
 
+static void test_gy521_self_test_gyro(void **sate)
+{
+    /*Create instance of struct.*/  
+    gy521_module *m  = gy521_new();
+    reg_addr_arr[0].addr = TWI_GY521_ADDR1;
+    gy521_init(m, TWI_GY521_ADDR1);
+    
+    /*Zero the global index for the twi*/
+    clear_twi(); 
+    
+    /*Setup the full-scale range to +-250dps*/
+    
+    /*Load up the gyro regs with passing test values*/
+    /*Load up the selftest regs with passing test values.*/
+    /*Load up the gyro regs for disabled ST reads*/
+    for(uint8_t i = 1; i < 17; i++) {   /*(6regs * 2) + 3ST regs = 15*/
+        reg_addr_arr[i].value = 2; 
+    }
+
+
+    self_test_results result = gy521_self_test(m); 
+    assert_false(result);   /*The value should be zero, aka zero faults*/
+
+    /*Check to make sure it can fail.*/
+    clear_twi();
+    for(uint8_t i = 1; i < 5; i++){
+        reg_addr_arr[i].value = 2;
+    }
+    for(int i = 4; i < 9; i++){
+        reg_addr_arr[i].value = 255;
+    }
+    for(int i = 9; i < 17; i++){
+        reg_addr_arr[i].value = 2;
+    }
+        
+    result = gy521_self_test(m);
+
+
+    /*Print out the register values*/
+    print_reg_arr();
+
+    assert_true(result); 
+
+    /*Free the struct*/
+    gy521_free(m);
+}
+
+
+static void test_gy521_self_test_accel(void **sate)
+{
+    /*Create instance of struct.*/  
+    gy521_module *m  = gy521_new();
+    reg_addr_arr[0].addr = TWI_GY521_ADDR1;
+    gy521_init(m, TWI_GY521_ADDR1);
+    
+    /*Zero the global index for the twi*/
+    clear_twi(); 
+    
+    /*Setup the full-scale range to +-250dps*/
+    
+    /*Load up the gyro regs with passing test values*/
+    /*Load up the selftest regs with passing test values.*/
+    /*Load up the gyro regs for disabled ST reads*/
+    for(uint8_t i = 1; i < 17; i++) {   /*(6regs * 2) + 3ST regs = 15*/
+        reg_addr_arr[i].value = 2; 
+    }
+
+    self_test_results result = gy521_self_test(m); 
+    assert_false(result);   /*The value should be zero, aka zero faults*/
+
+    /*Check to make sure it can fail.*/
+    clear_twi();
+    for(uint8_t i = 1; i < 5; i++){
+        reg_addr_arr[i].value = 2;
+    }
+    for(int i = 4; i < 9; i++){
+        reg_addr_arr[i].value = 255;
+    }
+    for(int i = 9; i < 17; i++){
+        reg_addr_arr[i].value = 2;
+    }
+        
+    result = gy521_self_test(m);
+
+
+    /*Print out the register values*/
+    print_reg_arr();
+
+    assert_true(result); 
+
+    /*Free the struct*/
+    gy521_free(m);
+}
+
+
+/*Mock Object/function for TWI RX*/
+
+
+static void test_gy521_testing(void **state)
+{
+    assert_false(1);
+}
+
+static void test_gyro_update(void **state)
+{
+    assert_true(1);
+}
+
+static void test_enable_self_test_gyro(void **state)
+{
+    //expect_value(func, param, val);
+    
+    /*The read register function should be called with */
+    expect_value(read_register, reg, 27);
+    enable_self_test_gyro(*state);
+}
 
 
 int main(void)
 {
+    int result = 0;
+
+    /*For testing TWI/I2C related stuff*/
+    const struct CMUnitTest twi_group[] = {
+        cmocka_unit_test_setup_teardown(test_gy521_testing, setup_gy521_instance, teardown_gy521_instance),
+        cmocka_unit_test_setup_teardown(test_gyro_update, setup_gy521_instance, teardown_gy521_instance),
+        cmocka_unit_test_setup_teardown(test_enable_self_test_gyro, setup_gy521_instance, teardown_gy521_instance),
+    }; 
     const struct CMUnitTest tests[] = {
         cmocka_unit_test(test_gy521_init),
         cmocka_unit_test(test_gy521_update_accel),
         cmocka_unit_test(test_gy521_update_gyro),
-    }; 
-    return cmocka_run_group_tests(tests, NULL, NULL);
+        cmocka_unit_test(test_gy521_self_test_gyro),
+        cmocka_unit_test(test_gy521_self_test_accel),
+    };
+    //result = cmocka_run_group_tests(twi_group, setup_gy521_instance, teardown_gy521_instance); 
+    result = cmocka_run_group_tests(twi_group, NULL, NULL);
+    result = cmocka_run_group_tests(tests, NULL, NULL);
+
+    return result;
 }