mavsdk_tests: build should be independant of px4

CMakeLists.txt

@@ -393,9 +393,6 @@ add_custom_target(test_results
 		WORKING_DIRECTORY ${PX4_BINARY_DIR})
 set_target_properties(test_results PROPERTIES EXCLUDE_FROM_ALL TRUE)
 
-# Integration testing using MAVSDK
-add_subdirectory(test/mavsdk_tests)
-
 #=============================================================================
 # subdirectories
 #

Makefile

@@ -359,12 +359,14 @@ rostest: px4_sitl_default
 
 tests_integration: px4_sitl_default
 	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo
+	@$(MAKE) --no-print-directory px4_sitl_default mavsdk_tests
 	@"$(SRC_DIR)"/test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 100
 
 tests_integration_coverage:
 	@$(MAKE) clean
 	@$(MAKE) --no-print-directory px4_sitl_default PX4_CMAKE_BUILD_TYPE=Coverage
-	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo PX4_CMAKE_BUILD_TYPE=Coverage
+	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo
+	@$(MAKE) --no-print-directory px4_sitl_default mavsdk_tests
 	@"$(SRC_DIR)"/test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --iterations 1 --fail-early
 
 tests_mission: rostest

platforms/posix/cmake/sitl_target.cmake

@@ -45,6 +45,18 @@ ExternalProject_Add(sitl_gazebo
 	BUILD_ALWAYS 1
 )
 
+ExternalProject_Add(mavsdk_tests
+	SOURCE_DIR ${PX4_SOURCE_DIR}/test/mavsdk_tests
+	CMAKE_ARGS
+		-DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
+	BINARY_DIR ${PX4_BINARY_DIR}/mavsdk_tests
+	INSTALL_COMMAND ""
+	USES_TERMINAL_CONFIGURE true
+	USES_TERMINAL_BUILD true
+	EXCLUDE_FROM_ALL true
+	BUILD_ALWAYS 1
+)
+
 # create targets for each viewer/model/debugger combination
 set(viewers none jmavsim gazebo)
 set(debuggers none ide gdb lldb ddd valgrind callgrind)

test/mavsdk_tests/CMakeLists.txt

@@ -1,25 +1,30 @@
 cmake_minimum_required(VERSION 3.5.1)
 
-if(${PX4_BOARD_MODEL} MATCHES "sitl")
+project(mavsdk_tests CXX)
-    find_package(MAVSDK QUIET)
 
-    if (MAVSDK_FOUND)
+set(CMAKE_CXX_STANDARD 17)
-        add_executable(mavsdk_tests
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
-            test_main.cpp
+set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
-            autopilot_tester.cpp
-            test_mission_multicopter.cpp
-        )
 
-        target_link_libraries(mavsdk_tests
+find_package(MAVSDK QUIET)
-            MAVSDK::mavsdk
-            MAVSDK::mavsdk_action
-            MAVSDK::mavsdk_mission
-            MAVSDK::mavsdk_telemetry
-        )
 
-        target_compile_options(mavsdk_tests
+if(MAVSDK_FOUND)
-            PRIVATE -std=c++17 -Wall -Wextra -Werror)
+    add_executable(mavsdk_tests
-    else()
+        test_main.cpp
-        message("MAVSDK C++ not found, skipping mavsdk_tests build..")
+        autopilot_tester.cpp
-    endif()
+        test_mission_multicopter.cpp
+    )
+
+    target_link_libraries(mavsdk_tests
+        MAVSDK::mavsdk
+        MAVSDK::mavsdk_action
+        MAVSDK::mavsdk_mission
+        MAVSDK::mavsdk_telemetry
+    )
+
+    target_compile_options(mavsdk_tests
+        PRIVATE -Wall -Wextra -Werror
+    )
+else()
+    message("MAVSDK C++ not found, skipping mavsdk_tests build..")
 endif()

test/mavsdk_tests/mavsdk_test_runner.py

@@ -140,13 +140,13 @@ class TestRunner(Runner):
         super().__init__(log_dir)
         self.env = {"PATH": os.environ['PATH']}
         self.cmd = workspace_dir + \
-            "/build/px4_sitl_default/mavsdk_tests"
+            "/build/px4_sitl_default/mavsdk_tests/mavsdk_tests"
         self.args = [test]
         self.log_prefix = "test_runner"
 
 
 def determine_tests(workspace_dir, filter):
-    cmd = workspace_dir + "/build/px4_sitl_default/mavsdk_tests"
+    cmd = workspace_dir + "/build/px4_sitl_default/mavsdk_tests/mavsdk_tests"
     args = ["--list-test-names-only", filter]
     p = subprocess.Popen(
         [cmd] + args,
@@ -183,7 +183,7 @@ def is_everything_ready():
               "run `PX4_MAVSDK_TESTING=y DONT_RUN=1 "
               "make px4_sitl gazebo mavsdk_tests`")
         result = False
-    if not os.path.isfile('build/px4_sitl_default/mavsdk_tests'):
+    if not os.path.isfile('build/px4_sitl_default/mavsdk_tests/mavsdk_tests'):
         print("Test runner is not built\n"
               "run `PX4_MAVSDK_TESTING=y DONT_RUN=1 "
               "make px4_sitl gazebo mavsdk_tests`")