Merge remote-tracking branch 'upstream/master' into ros

5 files changed, 14 insertions, 44 deletions

diff --git a/unittests/CMakeLists.txt b/unittests/CMakeLists.txt
index b57537aa4..ee99b5a41 100644
--- a/unittests/CMakeLists.txt
+++ b/unittests/CMakeLists.txt
@@ -64,16 +64,13 @@ add_executable(conversion_test conversion_test.cpp ${PX_SRC}/systemcmds/tests/te
 add_gtest(conversion_test)
 
 # sbus2_test
-# TODO: move to gtest
 add_executable(sbus2_test sbus2_test.cpp hrt.cpp)
 add_gtest(sbus2_test)
 
 # st24_test
-# TODO: move to gtest
 add_executable(st24_test st24_test.cpp hrt.cpp ${PX_SRC}/lib/rc/st24.c)
 add_gtest(st24_test)
 
 # sf0x_test
-# TODO: move to gtest
 add_executable(sf0x_test sf0x_test.cpp ${PX_SRC}/drivers/sf0x/sf0x_parser.cpp)
 add_gtest(sf0x_test)
diff --git a/unittests/conversion_test.cpp b/unittests/conversion_test.cpp
index 99e1c7721..12d2213e2 100644
--- a/unittests/conversion_test.cpp
+++ b/unittests/conversion_test.cpp
@@ -4,6 +4,6 @@
 
 #include "gtest/gtest.h"
 
-TEST(ConversionTest, FMU_quad_w) {
+TEST(ConversionTest, quad_w_main) {
         ASSERT_EQ(test_conv(0, NULL), 0) << "Conversion test failed";
 }
diff --git a/unittests/mixer_test.cpp b/unittests/mixer_test.cpp
index fd3ece7f8..1271dab5e 100644
--- a/unittests/mixer_test.cpp
+++ b/unittests/mixer_test.cpp
@@ -6,6 +6,6 @@
 
 
 TEST(MixerTest, Mixer) {
-	char* args[] = {"empty", "../ROMFS/px4fmu_common/mixers/IO_pass.mix", "../ROMFS/px4fmu_common/mixers/FMU_quad_w.mix"};
+	char* args[] = {"empty", "../ROMFS/px4fmu_common/mixers/IO_pass.mix", "../ROMFS/px4fmu_common/mixers/quad_w.main.mix"};
 	ASSERT_EQ(test_mixer(3, args), 0) << "IO_pass.mix failed";
 }
diff --git a/unittests/sf0x_test.cpp b/unittests/sf0x_test.cpp
index 1af128bbe..ffaaaf04a 100644
--- a/unittests/sf0x_test.cpp
+++ b/unittests/sf0x_test.cpp
@@ -1,19 +1,15 @@
-
-#include <unistd.h>
-#include <string.h>
-#include <stdlib.h>
 #include <stdio.h>
-#include <systemlib/err.h>
-#include <drivers/drv_hrt.h>
+#include <stdlib.h>
+#include <string.h>
+#include <unistd.h>
 
+#include <drivers/drv_hrt.h>
 #include <drivers/sf0x/sf0x_parser.h>
+#include <systemlib/err.h>
 
-int main(int argc, char *argv[])
-{
-	warnx("SF0X test started");
-
-	int ret = 0;
+#include "gtest/gtest.h"
 
+TEST(SF0XTest, SF0X) {
 	const char LINE_MAX = 20;
 	char _linebuf[LINE_MAX];
 	_linebuf[0] = '\0';
@@ -60,6 +56,4 @@ int main(int argc, char *argv[])
 	}
 
 	warnx("test finished");
-
-	return ret;
 }
diff --git a/unittests/st24_test.cpp b/unittests/st24_test.cpp
index 0c56df173..89c7ffb1c 100644
--- a/unittests/st24_test.cpp
+++ b/unittests/st24_test.cpp
@@ -1,4 +1,3 @@
-
 #include <stdio.h>
 #include <unistd.h>
 #include <string.h>
@@ -7,30 +6,17 @@
 #include <rc/st24.h>
 #include "../../src/systemcmds/tests/tests.h"
 
-int main(int argc, char *argv[])
-{
-	warnx("ST24 test started");
-
-	char* defaultfile = "testdata/st24_data.txt";
+#include "gtest/gtest.h"
 
-	char* filepath = 0;
-
-	if (argc < 2) {
-		warnx("Too few arguments. Using default file: %s", defaultfile);
-		filepath = defaultfile;
-	} else {
-		filepath = argv[1];
-	}
+TEST(ST24Test, ST24) {
+	const char* filepath = "testdata/st24_data.txt";
 
 	warnx("loading data from: %s", filepath);
 
 	FILE *fp;
 
 	fp = fopen(filepath, "rt");
-
-	if (!fp) {
-		errx(1, "failed opening file");
-	}
+	//ASSERT_TRUE(fp);
 
 	float f;
 	unsigned x;
@@ -73,12 +59,5 @@ int main(int argc, char *argv[])
 		}
 	}
 
-	if (ret == EOF) {
-		warnx("Test finished, reached end of file");
-		ret = 0;
-	} else {
-		warnx("Test aborted, errno: %d", ret);
-	}
-
-	return ret;
+	ASSERT_EQ(EOF, ret);
 }