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author | Thomas Gubler <thomasgubler@gmail.com> | 2015-01-07 16:00:59 +0100 |
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committer | Thomas Gubler <thomasgubler@gmail.com> | 2015-01-07 16:00:59 +0100 |
commit | fe279d340dccdd40ebfade4c53893e8f7a77b45e (patch) | |
tree | 6ca7e8517507e097097a45cca384c51d343b5fc7 /unittests | |
parent | 417a82c699c2512ca3b8998c91c9d77f5d826edb (diff) | |
parent | 6ed2f77ca5c713e537c8fd4a9aacd7adc7887f53 (diff) | |
download | px4-firmware-fe279d340dccdd40ebfade4c53893e8f7a77b45e.tar.gz px4-firmware-fe279d340dccdd40ebfade4c53893e8f7a77b45e.tar.bz2 px4-firmware-fe279d340dccdd40ebfade4c53893e8f7a77b45e.zip |
Merge remote-tracking branch 'upstream/master' into dev_ros
Conflicts:
Makefile
Diffstat (limited to 'unittests')
-rw-r--r-- | unittests/CMakeLists.txt | 72 | ||||
-rw-r--r-- | unittests/Makefile | 95 | ||||
-rw-r--r-- | unittests/conversion_test.cpp | 9 | ||||
-rw-r--r-- | unittests/mixer_test.cpp | 16 | ||||
-rw-r--r-- | unittests/sbus2_test.cpp | 39 |
5 files changed, 80 insertions, 151 deletions
diff --git a/unittests/CMakeLists.txt b/unittests/CMakeLists.txt index 47b84f148..b57537aa4 100644 --- a/unittests/CMakeLists.txt +++ b/unittests/CMakeLists.txt @@ -2,38 +2,78 @@ cmake_minimum_required(VERSION 2.8) project(unittests) enable_testing() +include(CheckCXXCompilerFlag) +CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11) +CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X) +if(COMPILER_SUPPORTS_CXX11) + set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11") +elseif(COMPILER_SUPPORTS_CXX0X) + set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x") +else() + message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.") +endif() +set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -std=c99") + set(GTEST_DIR gtest) add_subdirectory(${GTEST_DIR}) include_directories(${GTEST_DIR}/include) + +set(PX_SRC ${CMAKE_SOURCE_DIR}/../src) include_directories(${CMAKE_SOURCE_DIR}) -include_directories(${CMAKE_SOURCE_DIR}/../src) -include_directories(${CMAKE_SOURCE_DIR}/../src/modules) -include_directories(${CMAKE_SOURCE_DIR}/../src/lib) +include_directories(${PX_SRC}) +include_directories(${PX_SRC}/modules) +include_directories(${PX_SRC}/lib) add_definitions(-D__EXPORT=) add_definitions(-D__PX4_TESTS) add_definitions(-Dnoreturn_function=) add_definitions(-Dmain_t=int) +# check +add_custom_target(unittests COMMAND ${CMAKE_CTEST_COMMAND} --output-on-failure) + function(add_gtest) foreach(test_name ${ARGN}) target_link_libraries(${test_name} gtest_main) - add_test(${test_name}Test ${test_name}) + add_test(NAME ${test_name} COMMAND ${test_name} WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}) + add_dependencies(unittests ${test_name}) endforeach() endfunction() -include(CheckCXXCompilerFlag) -CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11) -CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X) -if(COMPILER_SUPPORTS_CXX11) - set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11") -elseif(COMPILER_SUPPORTS_CXX0X) - set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x") -else() - message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.") -endif() # add each test -# todo: add mixer_test sbus2_test st24_test sf0x_test -add_executable(autodeclination_test autodeclination_test.cpp ${CMAKE_SOURCE_DIR}/../src/lib/geo_lookup/geo_mag_declination.c) +add_executable(autodeclination_test autodeclination_test.cpp ${PX_SRC}/lib/geo_lookup/geo_mag_declination.c) add_gtest(autodeclination_test) + +# mixer_test +add_custom_command(OUTPUT ${PX_SRC}/modules/systemlib/mixer/mixer_multirotor.generated.h + COMMAND ${PX_SRC}/modules/systemlib/mixer/multi_tables.py > ${PX_SRC}/modules/systemlib/mixer/mixer_multirotor.generated.h) +add_executable(mixer_test mixer_test.cpp hrt.cpp + ${PX_SRC}/modules/systemlib/mixer/mixer.cpp + ${PX_SRC}/modules/systemlib/mixer/mixer_group.cpp + ${PX_SRC}/modules/systemlib/mixer/mixer_load.c + ${PX_SRC}/modules/systemlib/mixer/mixer_multirotor.cpp + ${PX_SRC}/modules/systemlib/mixer/mixer_multirotor.generated.h + ${PX_SRC}/modules/systemlib/mixer/mixer_simple.cpp + ${PX_SRC}/modules/systemlib/pwm_limit/pwm_limit.c + ${PX_SRC}/systemcmds/tests/test_mixer.cpp) +add_gtest(mixer_test) + +# conversion_test +add_executable(conversion_test conversion_test.cpp ${PX_SRC}/systemcmds/tests/test_conv.cpp) +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 ${PX_SRC}/drivers/sf0x/sf0x_parser.cpp) +add_gtest(sf0x_test) diff --git a/unittests/Makefile b/unittests/Makefile deleted file mode 100644 index f25a56fc4..000000000 --- a/unittests/Makefile +++ /dev/null @@ -1,95 +0,0 @@ - -CC=$(CXX) -CFLAGS=-I. -I../src/modules -I ../src/include -I../src/drivers \ - -I../src -I../src/lib -D__EXPORT="" -Dnullptr="0" -lm -std=c++11 - -# Points to the root of Google Test, relative to where this file is. -# Remember to tweak this if you move this file. -GTEST_DIR = gtest - -# Flags passed to the preprocessor. -# Set Google Test's header directory as a system directory, such that -# the compiler doesn't generate warnings in Google Test headers. -CFLAGS += -isystem $(GTEST_DIR)/include - -# All Google Test headers. Usually you shouldn't change this -# definition. -GTEST_HEADERS = $(GTEST_DIR)/include/gtest/*.h \ - $(GTEST_DIR)/include/gtest/internal/*.h - -# Usually you shouldn't tweak such internal variables, indicated by a -# trailing _. -GTEST_SRCS_ = $(GTEST_DIR)/src/*.cc $(GTEST_DIR)/src/*.h $(GTEST_HEADERS) - -# For simplicity and to avoid depending on Google Test's -# implementation details, the dependencies specified below are -# conservative and not optimized. This is fine as Google Test -# compiles fast and for ordinary users its source rarely changes. -gtest-all.o: $(GTEST_SRCS_) - $(CC) $(CFLAGS) -I$(GTEST_DIR) -c \ - $(GTEST_DIR)/src/gtest-all.cc - -gtest_main.o: $(GTEST_SRCS_) - $(CC) $(CFLAGS) -I$(GTEST_DIR) -c \ - $(GTEST_DIR)/src/gtest_main.cc - -gtest.a: gtest-all.o - $(AR) $(ARFLAGS) $@ $^ - -gtest_main.a: gtest-all.o gtest_main.o - $(AR) $(ARFLAGS) $@ $^ - - -all: mixer_test sbus2_test st24_test sf0x_test - -MIXER_FILES=../src/systemcmds/tests/test_mixer.cpp \ - ../src/systemcmds/tests/test_conv.cpp \ - ../src/modules/systemlib/mixer/mixer_simple.cpp \ - ../src/modules/systemlib/mixer/mixer_multirotor.cpp \ - ../src/modules/systemlib/mixer/mixer.cpp \ - ../src/modules/systemlib/mixer/mixer_group.cpp \ - ../src/modules/systemlib/mixer/mixer_load.c \ - ../src/modules/systemlib/pwm_limit/pwm_limit.c \ - hrt.cpp \ - mixer_test.cpp - -include ../src/modules/systemlib/mixer/multi_tables.mk - -SBUS2_FILES=../src/modules/px4iofirmware/sbus.c \ - hrt.cpp \ - sbus2_test.cpp - -ST24_FILES=../src/lib/rc/st24.c \ - hrt.cpp \ - st24_test.cpp - -SF0X_FILES= \ - hrt.cpp \ - sf0x_test.cpp \ - ../src/drivers/sf0x/sf0x_parser.cpp - -mixer_test: $(MIXER_FILES) - $(CC) -o mixer_test $(MIXER_FILES) $(CFLAGS) - -sbus2_test: $(SBUS2_FILES) - $(CC) -o sbus2_test $(SBUS2_FILES) $(CFLAGS) - -sf0x_test: $(SF0X_FILES) - $(CC) -o sf0x_test $(SF0X_FILES) $(CFLAGS) - -st24_test: $(ST24_FILES) - $(CC) -o st24_test $(ST24_FILES) $(CFLAGS) - -cmake_gtests: - mkdir -p build - cd build && CC=gcc cmake .. && $(MAKE) && $(MAKE) test - -unittests: clean mixer_test sbus2_test sf0x_test st24_test cmake_gtests - ./mixer_test - ./sbus2_test - ./sf0x_test - ./st24_test - -.PHONY: clean -clean: - rm -rf gtest.a gtest_main.a *.o $(ODIR)/*.o *~ core $(INCDIR)/*~ sample_unittest mixer_test sbus2_test st24_test sf0x_test build diff --git a/unittests/conversion_test.cpp b/unittests/conversion_test.cpp new file mode 100644 index 000000000..99e1c7721 --- /dev/null +++ b/unittests/conversion_test.cpp @@ -0,0 +1,9 @@ +#include <systemlib/mixer/mixer.h> +#include <systemlib/err.h> +#include "../../src/systemcmds/tests/tests.h" + +#include "gtest/gtest.h" + +TEST(ConversionTest, FMU_quad_w) { + ASSERT_EQ(test_conv(0, NULL), 0) << "Conversion test failed"; +} diff --git a/unittests/mixer_test.cpp b/unittests/mixer_test.cpp index 4919e325c..fd3ece7f8 100644 --- a/unittests/mixer_test.cpp +++ b/unittests/mixer_test.cpp @@ -2,18 +2,10 @@ #include <systemlib/err.h> #include "../../src/systemcmds/tests/tests.h" -int main(int argc, char *argv[]) { +#include "gtest/gtest.h" - int ret; - warnx("Host execution started"); - - char* args[] = {argv[0], "../ROMFS/px4fmu_common/mixers/IO_pass.mix", - "../ROMFS/px4fmu_common/mixers/FMU_quad_w.mix"}; - - if (ret = test_mixer(3, args)); - - test_conv(1, args); - - return 0; +TEST(MixerTest, Mixer) { + char* args[] = {"empty", "../ROMFS/px4fmu_common/mixers/IO_pass.mix", "../ROMFS/px4fmu_common/mixers/FMU_quad_w.mix"}; + ASSERT_EQ(test_mixer(3, args), 0) << "IO_pass.mix failed"; } diff --git a/unittests/sbus2_test.cpp b/unittests/sbus2_test.cpp index ba075f8b3..ee4f3d1d6 100644 --- a/unittests/sbus2_test.cpp +++ b/unittests/sbus2_test.cpp @@ -1,33 +1,23 @@ - #include <stdio.h> -#include <unistd.h> #include <string.h> -#include <systemlib/mixer/mixer.h> -#include <systemlib/err.h> +#include <unistd.h> + +#include "../../src/systemcmds/tests/tests.h" #include <drivers/drv_hrt.h> #include <px4iofirmware/px4io.h> -#include "../../src/systemcmds/tests/tests.h" - -int main(int argc, char *argv[]) { - warnx("SBUS2 test started"); - - char *filepath = 0; +#include <systemlib/err.h> +#include <systemlib/mixer/mixer.h> - if (argc < 2) { - warnx("Using default input file"); - filepath = "testdata/sbus2_r7008SB.txt"; - } else { - filepath = argv[1]; - } +#include "gtest/gtest.h" - warnx("loading data from: %s", filepath); +TEST(SBUS2Test, SBUS2) { + char *filepath = "testdata/sbus2_r7008SB.txt"; FILE *fp; - fp = fopen(filepath,"rt"); - if (!fp) - errx(1, "failed opening file"); + ASSERT_TRUE(fp); + warnx("loading data from: %s", filepath); float f; unsigned x; @@ -73,12 +63,5 @@ int main(int argc, char *argv[]) { //sbus_parse(now, frame, &partial_frame_count, rc_values, &num_values, &sbus_failsafe, &sbus_frame_drop, max_channels); } - if (ret == EOF) { - warnx("Test finished, reached end of file"); - ret = 0; - } else { - warnx("Test aborted, errno: %d", ret); - } - - return ret; + ASSERT_EQ(ret, EOF); } |