From 663436fd47758ffd964d4b39883b338c92dd0497 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lorenz@px4.io>
Date: Tue, 24 Dec 2019 10:58:21 +0100
Subject: [PATCH] Integration tests: Add Makefile target This enables
 unfamiliar users to run the tests quickly without having to memorize all
 commandsline options.

---
 .github/workflows/sitl_tests.yml |  5 ++---
 CMakeLists.txt                   |  5 +----
 Makefile                         |  8 ++++----
 test/mavsdk_tests/CMakeLists.txt | 30 ++++++++++++++++--------------
 4 files changed, 23 insertions(+), 25 deletions(-)

diff --git a/.github/workflows/sitl_tests.yml b/.github/workflows/sitl_tests.yml
index 4473b6153a..a2ef089be8 100644
--- a/.github/workflows/sitl_tests.yml
+++ b/.github/workflows/sitl_tests.yml
@@ -12,9 +12,8 @@ jobs:
       run: update-alternatives --install /usr/bin/python python /usr/bin/python3 10
     - name: Install psutil
       run: pip3 install psutil
-    - name: Build PX4 in simulation mode
+    - name: Build PX4 in SITL integration test mode
       # Build all targets
-      run: make px4_sitl_default sitl_gazebo mavsdk_tests
-      # Check: Are the env variables needed?run: PX4_MAVSDK_TESTING=y DONT_RUN=1 make px4_sitl gazebo mavsdk_tests
+      run: DONT_RUN=1 make px4_sitl gazebo mavsdk_tests
     - name: Run simulation tests
       run:  test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 100
diff --git a/CMakeLists.txt b/CMakeLists.txt
index b7a2c3fedd..27bf218f30 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -387,10 +387,7 @@ add_custom_target(test_results
 set_target_properties(test_results PROPERTIES EXCLUDE_FROM_ALL TRUE)
 
 # Integration testing using MAVSDK
-option(MAVSDK_TESTING "Integration testing using MAVSDK" OFF)
-if (MAVSDK_TESTING)
-	add_subdirectory(test/mavsdk_tests)
-endif()
+add_subdirectory(test/mavsdk_tests)
 
 #=============================================================================
 # subdirectories
diff --git a/Makefile b/Makefile
index 95578edb16..ef1ec29712 100644
--- a/Makefile
+++ b/Makefile
@@ -141,10 +141,6 @@ else
 
 endif
 
-ifdef PX4_MAVSDK_TESTING
-	CMAKE_ARGS += -DMAVSDK_TESTING=ON
-endif
-
 # Functions
 # --------------------------------------------------------------------
 # describe how to build a cmake config
@@ -361,6 +357,10 @@ 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
+	@"$(SRC_DIR)"/test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 100
+
 tests_mission: rostest
 	@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_missions.test
 
diff --git a/test/mavsdk_tests/CMakeLists.txt b/test/mavsdk_tests/CMakeLists.txt
index 59fb1069d9..1695d2a2eb 100644
--- a/test/mavsdk_tests/CMakeLists.txt
+++ b/test/mavsdk_tests/CMakeLists.txt
@@ -1,19 +1,21 @@
 cmake_minimum_required(VERSION 3.5.1)
 
-find_package(MAVSDK REQUIRED)
+find_package(MAVSDK)
 
-add_executable(mavsdk_tests
-    test_main.cpp
-    autopilot_tester.cpp
-    test_mission_multicopter.cpp
-)
+if (MAVSDK_FOUND)
+    add_executable(mavsdk_tests
+        test_main.cpp
+        autopilot_tester.cpp
+        test_mission_multicopter.cpp
+    )
 
-target_link_libraries(mavsdk_tests
-    MAVSDK::mavsdk
-    MAVSDK::mavsdk_action
-    MAVSDK::mavsdk_mission
-    MAVSDK::mavsdk_telemetry
-)
+    target_link_libraries(mavsdk_tests
+        MAVSDK::mavsdk
+        MAVSDK::mavsdk_action
+        MAVSDK::mavsdk_mission
+        MAVSDK::mavsdk_telemetry
+    )
 
-target_compile_options(mavsdk_tests
-    PRIVATE -std=c++17 -Wall -Wextra -Werror)
+    target_compile_options(mavsdk_tests
+        PRIVATE -std=c++17 -Wall -Wextra -Werror)
+endif()