Adding unit tests for block forwarding issue discovered in #12.

Author: remo-pillat

resources/project/Project.xml

@@ -4379,6 +4379,26 @@
                         </Category>
                     </Info>
                 </File>
+                <File Location="simulink">
+                    <DIR_SIGNIFIER Location="1">
+                        <Info/>
+                    </DIR_SIGNIFIER>
+                    <Info/>
+                    <File Location="mroblocksForwarding.slx">
+                        <Info>
+                            <Category UUID="FileClassCategory">
+                                <Label UUID="design"/>
+                            </Category>
+                        </Info>
+                    </File>
+                    <File Location="troblocksForwarding.m">
+                        <Info>
+                            <Category UUID="FileClassCategory">
+                                <Label UUID="test"/>
+                            </Category>
+                        </Info>
+                    </File>
+                </File>
             </File>
         </File>
     </Files>

test/toolbox/simulink/mroblocksForwarding.slx

@@ -0,0 +1,85 @@
+classdef troblocksForwarding < matlab.unittest.TestCase
+    %troblocksForwarding Test block forwarding of blocks in roblocks library
+    %   We introduced block forwarding when we introduced the sub-libraries
+    %   generallib, mobilelib, and visualservolib.
+
+    % Copyright 2023-2025 Peter Corke, Witold Jachimczyk, Remo Pillat
+    
+    properties (Constant)
+        %ModelName - Name of Simulink model containing the old blocks
+        ModelName = "mroblocksForwarding"
+
+        %LibraryName - Main Simulink library for RVC Toolbox
+        LibraryName = "roblocks"
+    end
+
+    properties
+        %ForwardingTable - Forwarding table extracted from library
+        %   This will be a Nx3 string array.
+        ForwardingTable
+    end
+
+    properties (TestParameter)
+        %BlockNames - Block names to test for forwarding
+        %   Each parameter contains 3 values
+        %   (1) The name of the block in ModelName
+        %   (2) The original block path
+        %   (3) The new, forwarded block path
+        pBlockName = struct(...
+            "angdiff", {{"angdiff", "roblocks/angdiff", "generallib/angdiff"}}, ...
+            "tform2delta", {{"tform2delta", "roblocks/tform2delta", "generallib/tform2delta"}}, ...
+            "wrapToPi", {{"wrapToPi", "roblocks/wrapToPi", "generallib/wrapToPi"}}, ...
+            "Quadrotor", {{"Quadrotor", "roblocks/Quadrotor", "mobilelib/Quadrotor"}}, ...
+            "ControlMixer", {{"Control Mixer 4", "roblocks/Control Mixer 4", "mobilelib/Control Mixer 4"}}, ...
+            "JointVLoop", {{"Joint vloop", "roblocks/Joint vloop", "mobilelib/Joint vloop"}} ...
+            )
+    end
+
+    methods(TestClassSetup)
+        function loadTestModel(testCase)
+            %loadTestModel Load model with forwarded blocks
+
+            % Ensure model loads without any warnings. That's a good
+            % initial sanity check that the forwarding is working.
+            testCase.verifyWarningFree(@() load_system(testCase.ModelName));
+            testCase.addTeardown(@() close_system(testCase.ModelName,0));
+        end
+
+        function storeForwardingTable(testCase)
+            %storeForwardingTable Extract forwarding table from library and store in class property
+
+            load_system(testCase.LibraryName);
+            testCase.addTeardown(@() close_system(testCase.LibraryName, 0));
+
+            % Retrieve the actual forwarding table
+            actualTableTemp = get_param(testCase.LibraryName, "ForwardingTable");
+            testCase.assertNotEmpty(actualTableTemp, "Expected forwarding table for library to exist");
+
+            for k = 1:numel(actualTableTemp)
+                while length(actualTableTemp{k})< 3
+                    actualTableTemp{k}(end+1)={''};
+                end
+                testCase.ForwardingTable = [testCase.ForwardingTable;string(actualTableTemp{k})];
+            end
+        end
+    end
+    
+    methods(Test)
+        function blockForwarding(testCase, pBlockName)
+            %blockForwarding Verify that block forwarding works correctly
+
+            [blockName, oldLibraryPath, newLibraryPath] = pBlockName{:};
+
+            % Check that block exists in test model
+            blockPath = testCase.ModelName + "/" + blockName;
+            testCase.assertNotEmpty(get_param(blockPath, "BlockType"), "Expected block to exist.");
+
+            % Verify that forwarding is set up correctly
+            fwdRow = find(testCase.ForwardingTable.matches(oldLibraryPath));
+            testCase.verifyNotEmpty(fwdRow, "No entry for block in forwarding table")            
+            actualLibraryPath = get_param(blockPath, "ReferenceBlock");
+            testCase.verifyEqual(actualLibraryPath, char(newLibraryPath));
+        end
+    end
+    
+end