From 30a73416dcd649f14a3b220753a3248f8495ccc0 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Thu, 26 Dec 2019 12:36:24 -0500
Subject: [PATCH] mavsdk SITL testing code coverage and upload to codecov.io

---
 .github/workflows/sitl_tests_coverage.yml     | 23 +++++++++++++++++++
 CMakeLists.txt                                |  2 +-
 Makefile                                      | 10 ++++++--
 Tools/setup/requirements.txt                  |  1 +
 platforms/posix/cmake/sitl_tests.cmake        |  5 +++-
 platforms/posix/src/px4/common/CMakeLists.txt |  5 ++--
 6 files changed, 39 insertions(+), 7 deletions(-)
 create mode 100644 .github/workflows/sitl_tests_coverage.yml

diff --git a/.github/workflows/sitl_tests_coverage.yml b/.github/workflows/sitl_tests_coverage.yml
new file mode 100644
index 0000000000..f36cbac6e3
--- /dev/null
+++ b/.github/workflows/sitl_tests_coverage.yml
@@ -0,0 +1,23 @@
+name: SITL Tests (Code Coverage)
+
+on: [push]
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-simulation-bionic:2019-12-18
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+    - name: Set Python 3 as default
+      run: update-alternatives --install /usr/bin/python python /usr/bin/python3 10
+    - name: Install psutil
+      run: pip3 install psutil
+    - name: Run simulation tests
+      run: make tests_integration_coverage
+    - name: Upload coverage to Codecov
+      uses: codecov/codecov-action@v1
+      with:
+        token: ${{ secrets.CODECOV_TOKEN }}
+        flags: mavsdk
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 27bf218f30..cee32f30bd 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -358,7 +358,7 @@ endif()
 
 # optionally enable cmake testing (supported only on posix)
 option(CMAKE_TESTING "Configure test targets" OFF)
-if (${PX4_CONFIG} STREQUAL "px4_sitl_test")
+if(${PX4_CONFIG} STREQUAL "px4_sitl_test")
 	set(CMAKE_TESTING ON)
 endif()
 if(CMAKE_TESTING)
diff --git a/Makefile b/Makefile
index ef1ec29712..ae3750d0e2 100644
--- a/Makefile
+++ b/Makefile
@@ -357,10 +357,16 @@ tests_coverage:
 rostest: px4_sitl_default
 	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo
 
-tests_integration: px4_sitl gazebo mavsdk_tests
-# Missing step: Gazebo model generation
+tests_integration: px4_sitl_default
+	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo
 	@"$(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
+	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo PX4_CMAKE_BUILD_TYPE=Coverage
+	@"$(SRC_DIR)"/test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --iterations 1 --fail-early
+
 tests_mission: rostest
 	@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_missions.test
 
diff --git a/Tools/setup/requirements.txt b/Tools/setup/requirements.txt
index 7c655be500..0908b55e61 100644
--- a/Tools/setup/requirements.txt
+++ b/Tools/setup/requirements.txt
@@ -6,6 +6,7 @@ matplotlib
 nose
 numpy>=1.13
 pandas>=0.21
+psutil
 pyserial>=3.0
 pyulog>=0.5.0
 pyyaml
diff --git a/platforms/posix/cmake/sitl_tests.cmake b/platforms/posix/cmake/sitl_tests.cmake
index a0d9ffbea1..755f0fbbc4 100644
--- a/platforms/posix/cmake/sitl_tests.cmake
+++ b/platforms/posix/cmake/sitl_tests.cmake
@@ -141,7 +141,10 @@ foreach(cmd_name ${test_cmds})
 	set_tests_properties(posix_${cmd_name} PROPERTIES PASS_REGULAR_EXPRESSION "Shutting down")
 endforeach()
 
-if (CMAKE_BUILD_TYPE STREQUAL Coverage)
+if(CMAKE_BUILD_TYPE STREQUAL Coverage)
 	setup_target_for_coverage(test_coverage "${CMAKE_CTEST_COMMAND} --output-on-failure -T Test" tests)
 	setup_target_for_coverage(generate_coverage "${CMAKE_COMMAND} -E echo" generic)
+
+	# TODO:
+	#setup_target_for_coverage(mavsdk_coverage "${PX4_SOURCE_DIR}/test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --iterations 1 --fail-early" mavsdk)
 endif()
diff --git a/platforms/posix/src/px4/common/CMakeLists.txt b/platforms/posix/src/px4/common/CMakeLists.txt
index 79a9354940..2bc9318cae 100644
--- a/platforms/posix/src/px4/common/CMakeLists.txt
+++ b/platforms/posix/src/px4/common/CMakeLists.txt
@@ -68,13 +68,12 @@ if(ENABLE_LOCKSTEP_SCHEDULER)
 endif()
 
 
-if (EXTRA_DEPENDS)
+if(EXTRA_DEPENDS)
 	add_dependencies(px4_layer ${EXTRA_DEPENDS})
 endif()
 
 
-if (BUILD_TESTING)
+if(BUILD_TESTING)
 	add_subdirectory(test_stubs)
 	add_subdirectory(gtest_runner)
 endif()
-