From 8556b5dfb82681d0b91ebb7bb4d64671e753cf87 Mon Sep 17 00:00:00 2001
From: Gustavo Jose de Sousa <gustavo.sousa@intel.com>
Date: Fri, 30 Oct 2015 13:50:44 -0200
Subject: [PATCH] waf: add support to run (unit) tests

We're currently using the tests standard error for reporting tests. We can add
TAP later to integrate with other tools.

Additionally, this patch simplifies the exclude patterns passed to
collect_dirs_to_recurse.
---
 Tools/ardupilotwaf/ardupilotwaf.py | 58 ++++++++++++++++++++++++++++++
 wscript                            | 28 +++++++++++++--
 2 files changed, 83 insertions(+), 3 deletions(-)

diff --git a/Tools/ardupilotwaf/ardupilotwaf.py b/Tools/ardupilotwaf/ardupilotwaf.py
index 7298887e82..85c98e3b62 100644
--- a/Tools/ardupilotwaf/ardupilotwaf.py
+++ b/Tools/ardupilotwaf/ardupilotwaf.py
@@ -1,6 +1,8 @@
 #!/usr/bin/env python
 # encoding: utf-8
 
+from waflib import Logs
+
 SOURCE_EXTS = [
     '*.S',
     '*.c',
@@ -129,3 +131,59 @@ def vehicle_stlib(bld, **kw):
         defines=_get_legacy_defines(vehicle),
         idx=_get_next_idx(),
     )
+
+def find_tests(bld, use=[]):
+    features = ''
+    if bld.cmd == 'check':
+        features='test'
+
+    for f in bld.path.ant_glob(incl='*.cpp'):
+        target = f.change_ext('.' + bld.env.BOARD)
+        bld.program(
+            features=features,
+            target=target,
+            source=[f],
+            use=use,
+        )
+
+def test_summary(bld):
+    from io import BytesIO
+    import sys
+
+    if not hasattr(bld, 'utest_results'):
+        Logs.info('check: no test run')
+        return
+
+    fails = []
+
+    for filename, exit_code, out, err in bld.utest_results:
+        Logs.pprint('GREEN' if exit_code == 0 else 'YELLOW',
+                    '    %s' % filename,
+                    'returned %d' % exit_code)
+
+        if exit_code != 0:
+            fails.append(filename)
+        elif not bld.options.check_verbose:
+            continue
+
+        if len(out):
+            buf = BytesIO(out)
+            for line in buf:
+                print("    OUT: %s" % line.decode(), end='', file=sys.stderr)
+            print()
+
+        if len(err):
+            buf = BytesIO(err)
+            for line in buf:
+                print("    ERR: %s" % line.decode(), end='', file=sys.stderr)
+            print()
+
+    if not fails:
+        Logs.info('check: All %u tests passed!' % len(bld.utest_results))
+        return
+
+    Logs.error('check: %u of %u tests failed' %
+               (len(fails), len(bld.utest_results)))
+
+    for filename in fails:
+        Logs.error('    %s' % filename)
diff --git a/wscript b/wscript
index 513c65aafc..6453dbfe2a 100644
--- a/wscript
+++ b/wscript
@@ -6,6 +6,7 @@ import sys
 sys.path.insert(0, 'Tools/ardupilotwaf/')
 
 import ardupilotwaf
+import waflib
 
 # TODO: implement a command 'waf help' that shows the basic tasks a
 # developer might want to do: e.g. how to configure a board, compile a
@@ -134,16 +135,22 @@ BOARDS = {
 BOARDS_NAMES = sorted(list(BOARDS.keys()))
 
 def options(opt):
-    opt.load('compiler_cxx compiler_c')
+    opt.load('compiler_cxx compiler_c waf_unit_test')
     opt.add_option('--board',
                    action='store',
                    choices=BOARDS_NAMES,
                    default='sitl',
                    help='Target board to build, choices are %s' % BOARDS_NAMES)
 
+    g = opt.add_option_group('Check options')
+    g.add_option('--check-verbose',
+                 action='store_true',
+                 help='Output all test programs')
+
 def configure(cfg):
     cfg.load('compiler_cxx compiler_c')
     cfg.load('clang_compilation_database')
+    cfg.load('waf_unit_test')
 
     cfg.msg('Setting board to', cfg.options.board)
     cfg.env.BOARD = cfg.options.board
@@ -198,11 +205,26 @@ def build(bld):
     vehicles.sort()
 
     tools = collect_dirs_to_recurse(bld, 'Tools/*')
-    examples = collect_dirs_to_recurse(bld, 'libraries/*/examples/*', excl='*/AP_HAL_*/* */SITL/*')
+    examples = collect_dirs_to_recurse(bld,
+                                       'libraries/*/examples/*',
+                                       excl='libraries/AP_HAL_* libraries/SITL')
+
+    tests = collect_dirs_to_recurse(bld,
+                                    '**/tests',
+                                    excl='modules Tools libraries/AP_HAL_* libraries/SITL')
+    board_tests = ['libraries/%s/**/tests' % l for l in bld.env.AP_LIBRARIES]
+    tests.extend(collect_dirs_to_recurse(bld, board_tests))
 
     hal_examples = []
     for l in bld.env.AP_LIBRARIES:
         hal_examples.extend(collect_dirs_to_recurse(bld, 'libraries/' + l + '/examples/*'))
 
-    for d in vehicles + tools + examples + hal_examples:
+    for d in vehicles + tools + examples + hal_examples + tests:
         bld.recurse(d)
+
+    if bld.cmd == 'check':
+        bld.add_post_fun(ardupilotwaf.test_summary)
+
+class CheckContext(waflib.Build.BuildContext):
+    '''executes tests after build'''
+    cmd = 'check'