From 97bc0f44865b1d7bf3a7e1a56d959dfd402c2241 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Sat, 31 Dec 2016 16:34:07 -0500
Subject: [PATCH] gather test results

---
 CMakeLists.txt                    |   1 +
 CTestConfig.cmake                 |  15 ++++
 Makefile                          |  12 +--
 Tools/CTest2JUnit.xsl             | 120 ++++++++++++++++++++++++++++++
 circle.yml                        |  14 ++--
 src/firmware/posix/CMakeLists.txt |  18 +++++
 unittests/CMakeLists.txt          |   4 +-
 7 files changed, 172 insertions(+), 12 deletions(-)
 create mode 100644 CTestConfig.cmake
 create mode 100644 Tools/CTest2JUnit.xsl

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 101ea12a4c..bcf3e3741f 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -271,6 +271,7 @@ find_package(PythonInterp REQUIRED)
 # cmake modules
 #
 enable_testing()
+include(CTest)
 
 #=============================================================================
 # generate compile command database
diff --git a/CTestConfig.cmake b/CTestConfig.cmake
new file mode 100644
index 0000000000..5762625f32
--- /dev/null
+++ b/CTestConfig.cmake
@@ -0,0 +1,15 @@
+## This file should be placed in the root directory of your project.
+## Then modify the CMakeLists.txt file in the root directory of your
+## project to incorporate the testing dashboard.
+##
+## # The following are required to submit to the CDash dashboard:
+##   ENABLE_TESTING()
+##   INCLUDE(CTest)
+
+set(CTEST_PROJECT_NAME "PX4 Firmware")
+set(CTEST_NIGHTLY_START_TIME "00:00:00 EST")
+
+set(CTEST_DROP_METHOD "http")
+set(CTEST_DROP_SITE "my.cdash.org")
+set(CTEST_DROP_LOCATION "/submit.php?project=PX4+Firmware")
+set(CTEST_DROP_SITE_CDASH TRUE)
diff --git a/Makefile b/Makefile
index 5aea66e4ed..4477a1c8f4 100755
--- a/Makefile
+++ b/Makefile
@@ -278,17 +278,17 @@ unittest: posix_sitl_default
 	$(call cmake-build,unittest,$(SRC_DIR)/unittests)
 	@(cd build_unittest && ctest -j2 --output-on-failure)
 
-run_tests_posix: posix_sitl_default
-	@(cd build_posix_sitl_default/ && ctest --output-on-failure)
+run_tests_posix:
+	@$(call PX4_RUN,$(MAKE) --no-print-directory posix_sitl_default test_results_junit)
 
 tests: unittest run_tests_posix
 
 tests_coverage:
-	@(PX4_CODE_COVERAGE=1 CCACHE_DISABLE=1 ${MAKE} tests)
-	@(lcov --directory . --capture --quiet --output-file coverage.info)
-	@(lcov --remove coverage.info '/usr/*' --quiet --output-file coverage.info)
+	@$(call PX4_RUN,$(MAKE) --no-print-directory tests PX4_CODE_COVERAGE=1 CCACHE_DISABLE=1)
+	@$(call PX4_RUN,lcov --directory . --capture --quiet --output-file coverage.info)
+	@$(call PX4_RUN,lcov --remove coverage.info '/usr/*' --quiet --output-file coverage.info)
 	#@(lcov --list coverage.info)
-	@(genhtml coverage.info --quiet --output-directory coverage-html)
+	@$(call PX4_RUN,genhtml coverage.info --quiet --output-directory coverage-html)
 
 package_firmware:
 	@zip --junk-paths Firmware.zip `find Binaries/. -name \*.px4`
diff --git a/Tools/CTest2JUnit.xsl b/Tools/CTest2JUnit.xsl
new file mode 100644
index 0000000000..8ba21f4e60
--- /dev/null
+++ b/Tools/CTest2JUnit.xsl
@@ -0,0 +1,120 @@
+<xsl:stylesheet xmlns:xsl="http://www.w3.org/1999/XSL/Transform" version="1.0">
+<xsl:output method="xml" indent="yes"/>
+    <xsl:template match="/Site">
+	<xsl:variable name="Name"><xsl:value-of select="@Name"/></xsl:variable>
+	<xsl:variable name="Hostname"><xsl:value-of select="@Hostname"/></xsl:variable>
+	<xsl:variable name="TestCount"><xsl:value-of select="count(//TestList/Test)"/> </xsl:variable>
+	<xsl:variable name="ErrorCount"><xsl:value-of select="count(//TestList/Test[@Status='error'])"/> </xsl:variable>
+	<xsl:variable name="FailureCount"><xsl:value-of select="count(//Testing/Test[@Status='failed'])"/> </xsl:variable>
+	<testsuite name="{$Name}" hostname="{$Hostname}" errors="0" failures="{$FailureCount}" tests="{$TestCount}">
+	    <xsl:variable name="BuildName"><xsl:value-of select="@BuildName"/></xsl:variable>
+	    <xsl:variable name="BuildStamp"><xsl:value-of select="@BuildStamp"/></xsl:variable>
+	    <xsl:variable name="Generator"><xsl:value-of select="@Generator"/></xsl:variable>
+	    <xsl:variable name="CompilerName"><xsl:value-of select="@CompilerName"/></xsl:variable>
+	    <xsl:variable name="OSName"><xsl:value-of select="@OSName"/></xsl:variable>
+	    <xsl:variable name="OSRelease"><xsl:value-of select="@OSRelease"/></xsl:variable>
+	    <xsl:variable name="OSVersion"><xsl:value-of select="@OSVersion"/></xsl:variable>
+	    <xsl:variable name="OSPlatform"><xsl:value-of select="@OSPlatform"/></xsl:variable>
+	    <xsl:variable name="Is64Bits"><xsl:value-of select="@Is64Bits"/></xsl:variable>
+	    <xsl:variable name="VendorString"><xsl:value-of select="@VendorString"/></xsl:variable>
+	    <xsl:variable name="VendorID"><xsl:value-of select="@VendorID"/></xsl:variable>
+	    <xsl:variable name="FamilyID"><xsl:value-of select="@FamilyID"/></xsl:variable>
+	    <xsl:variable name="ModelID"><xsl:value-of select="@ModelID"/></xsl:variable>
+	    <xsl:variable name="ProcessorCacheSize"><xsl:value-of select="@ProcessorCacheSize"/></xsl:variable>
+	    <xsl:variable name="NumberOfLogicalCPU"><xsl:value-of select="@NumberOfLogicalCPU"/></xsl:variable>
+	    <xsl:variable name="NumberOfPhysicalCPU"><xsl:value-of select="@NumberOfPhysicalCPU"/></xsl:variable>
+	    <xsl:variable name="TotalVirtualMemory"><xsl:value-of select="@TotalVirtualMemory"/></xsl:variable>
+	    <xsl:variable name="TotalPhysicalMemory"><xsl:value-of select="@TotalPhysicalMemory"/></xsl:variable>
+	    <xsl:variable name="LogicalProcessorsPerPhysical"><xsl:value-of select="@LogicalProcessorsPerPhysical"/></xsl:variable>
+	    <xsl:variable name="ProcessorClockFrequency"><xsl:value-of select="@ProcessorClockFrequency"/></xsl:variable>
+	    <properties>
+		<property name="BuildName" value="{$BuildName}" />
+		<property name="BuildStamp" value="{$BuildStamp}" />
+		<property name="Name" value="{$Name}" />
+		<property name="Generator" value="{$Generator}" />
+		<property name="CompilerName" value="{$CompilerName}" />
+		<property name="OSName" value="{$OSName}" />
+		<property name="Hostname" value="{$Hostname}" />
+		<property name="OSRelease" value="{$OSRelease}" />
+		<property name="OSVersion" value="{$OSVersion}" />
+		<property name="OSPlatform" value="{$OSPlatform}" />
+		<property name="Is64Bits" value="{$Is64Bits}" />
+		<property name="VendorString" value="{$VendorString}" />
+		<property name="VendorID" value="{$VendorID}" />
+		<property name="FamilyID" value="{$FamilyID}" />
+		<property name="ModelID" value="{$ModelID}" />
+		<property name="ProcessorCacheSize" value="{$ProcessorCacheSize}" />
+		<property name="NumberOfLogicalCPU" value="{$NumberOfLogicalCPU}" />
+		<property name="NumberOfPhysicalCPU" value="{$NumberOfPhysicalCPU}" />
+		<property name="TotalVirtualMemory" value="{$TotalVirtualMemory}" />
+		<property name="TotalPhysicalMemory" value="{$TotalPhysicalMemory}" />
+		<property name="LogicalProcessorsPerPhysical" value="{$LogicalProcessorsPerPhysical}" />
+		<property name="ProcessorClockFrequency" value="{$ProcessorClockFrequency}" />
+	    </properties>
+	    <xsl:apply-templates select="Testing/Test"/>
+
+	    <system-out>
+		BuildName: <xsl:value-of select="$BuildName" />
+		BuildStamp: <xsl:value-of select="$BuildStamp" />
+		Name: <xsl:value-of select="$Name" />
+		Generator: <xsl:value-of select="$Generator" />
+		CompilerName: <xsl:value-of select="$CompilerName" />
+		OSName: <xsl:value-of select="$OSName" />
+		Hostname: <xsl:value-of select="$Hostname" />
+		OSRelease: <xsl:value-of select="$OSRelease" />
+		OSVersion: <xsl:value-of select="$OSVersion" />
+		OSPlatform: <xsl:value-of select="$OSPlatform" />
+		Is64Bits: <xsl:value-of select="$Is64Bits" />
+		VendorString: <xsl:value-of select="$VendorString" />
+		VendorID: <xsl:value-of select="$VendorID" />
+		FamilyID: <xsl:value-of select="$FamilyID" />
+		ModelID: <xsl:value-of select="$ModelID" />
+		ProcessorCacheSize: <xsl:value-of select="$ProcessorCacheSize" />
+		NumberOfLogicalCPU: <xsl:value-of select="$NumberOfLogicalCPU" />
+		NumberOfPhysicalCPU: <xsl:value-of select="$NumberOfPhysicalCPU" />
+		TotalVirtualMemory: <xsl:value-of select="$TotalVirtualMemory" />
+		TotalPhysicalMemory: <xsl:value-of select="$TotalPhysicalMemory" />
+		LogicalProcessorsPerPhysical: <xsl:value-of select="$LogicalProcessorsPerPhysical" />
+		ProcessorClockFrequency: <xsl:value-of select="$ProcessorClockFrequency" />
+	    </system-out>
+	</testsuite>
+    </xsl:template>
+
+    <xsl:template match="Testing/Test">
+	<xsl:variable name="testcasename"><xsl:value-of select= "Name"/></xsl:variable>
+	<xsl:variable name="testclassname"><xsl:value-of select= " concat('this', substring(Path,2))"/></xsl:variable>
+	<xsl:variable name="exectime">
+	    <xsl:for-each select="Results/NamedMeasurement">
+		<xsl:if test="@name = 'Execution Time'">
+		    <xsl:value-of select="."/>
+		</xsl:if>
+	    </xsl:for-each>
+	</xsl:variable>
+
+	<testcase name="{$testcasename}" classname="{$testclassname}" time="{$exectime}">
+	    <xsl:if test="@Status = 'passed'">
+	    </xsl:if>
+	    <xsl:if test="@Status = 'failed'">
+		<xsl:variable name="failtype">
+		    <xsl:for-each select="Results/NamedMeasurement">
+			<xsl:if test="@name = 'Exit Code'">
+			    <xsl:value-of select="."/>
+			</xsl:if>
+		    </xsl:for-each>
+		</xsl:variable>
+		<xsl:variable name="failcode">
+		    <xsl:for-each select="Results/NamedMeasurement">
+			<xsl:if test="@name = 'Exit Value'">
+			    <xsl:value-of select="."/>
+			</xsl:if>
+		    </xsl:for-each>
+		</xsl:variable>
+		<failure message="{$failtype} ({$failcode})"><xsl:value-of select="Results/Measurement/Value/text()" /></failure>
+	    </xsl:if>
+	    <xsl:if test="@Status = 'notrun'">
+		<skipped><xsl:value-of select="Results/Measurement/Value/text()" /></skipped>
+	    </xsl:if>
+	</testcase>
+    </xsl:template>
+
+</xsl:stylesheet>
diff --git a/circle.yml b/circle.yml
index b92e992381..e01f15b864 100644
--- a/circle.yml
+++ b/circle.yml
@@ -12,15 +12,19 @@ checkout:
 
 dependencies:
   pre:
-    - docker pull px4io/px4-dev-nuttx:2016-12-26
+    - docker pull px4io/px4-dev-base
 
 test:
   override:
-    - docker run --rm -v `pwd`:`pwd`:rw -e CI=true -w=`pwd` -e LOCAL_USER_ID=$UID -it px4io/px4-dev-nuttx:2016-12-26 /bin/bash -c "make quick_check"
+    - PX4_DOCKER=1 make tests
+    # copy test results for circleci
+    - mkdir -p $CIRCLE_TEST_REPORTS/unittests/ && cp build_unittest/test_detail.xml $CIRCLE_TEST_REPORTS/unittests/
+    - mkdir -p $CIRCLE_TEST_REPORTS/sitlunittests/ && cp ./build_posix_sitl_default/JUnitTestResults.xml $CIRCLE_TEST_REPORTS/sitlunittests/
+    - make distclean
+    - PX4_DOCKER=1 make tests_coverage
 
 general:
   artifacts:
-    - "build_px4fmu-v2_default/parameters.xml"
-    - "build_px4fmu-v2_default/airframes.xml"
-    - "build_.*/src/firmware/nuttx/.*.px4"
+    - "coverage-html"
+    - "coverage.info"
 
diff --git a/src/firmware/posix/CMakeLists.txt b/src/firmware/posix/CMakeLists.txt
index 2530c160fa..56faefcfd5 100644
--- a/src/firmware/posix/CMakeLists.txt
+++ b/src/firmware/posix/CMakeLists.txt
@@ -187,4 +187,22 @@ foreach(test_name ${test_src_files})
 	endif()
 endforeach()
 
+add_custom_target(test_results
+		COMMAND ${CMAKE_CTEST_COMMAND} --output-on-failure -T Test
+		DEPENDS px4
+		USES_TERMINAL
+		COMMENT "Running tests in sitl"
+		WORKING_DIRECTORY ${PX4_BINARY_DIR})
+
+add_custom_target(test_results_junit
+		COMMAND xsltproc ${PX4_SOURCE_DIR}/Tools/CTest2JUnit.xsl Testing/`head -n 1 < Testing/TAG`/Test.xml > JUnitTestResults.xml
+		DEPENDS test_results
+		COMMENT "Converting ctest output to junit xml"
+		WORKING_DIRECTORY ${PX4_BINARY_DIR})
+
+add_custom_target(test_cdash_submit
+		COMMAND ${CMAKE_CTEST_COMMAND} -D Experimental
+		USES_TERMINAL
+		WORKING_DIRECTORY ${PX4_BINARY_DIR})
+
 # vim: set noet ft=cmake fenc=utf-8 ff=unix :
diff --git a/unittests/CMakeLists.txt b/unittests/CMakeLists.txt
index 0ed8ec9781..9f534c933c 100644
--- a/unittests/CMakeLists.txt
+++ b/unittests/CMakeLists.txt
@@ -10,6 +10,8 @@ endif()
 project(px4_unittests)
 enable_testing()
 
+message(STATUS ${CONFIG})
+
 set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -Werror -std=gnu99 -g")
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Werror -std=gnu++0x -g -fno-exceptions -fno-rtti -fno-threadsafe-statics -DCONFIG_WCHAR_BUILTIN -D__CUSTOM_FILE_IO__")
 
@@ -90,7 +92,7 @@ function(add_gtest)
 		else()
 			target_link_libraries(${test_name} gtest_main pthread rt ${PX4_PLATFORM})
 		endif()
-		add_test(NAME ${test_name} COMMAND ${test_name} WORKING_DIRECTORY ${PX4_SOURCE_DIR})
+		add_test(NAME ${test_name} COMMAND ${test_name} --gtest_output=xml WORKING_DIRECTORY ${PX4_BINARY_DIR})
 		add_dependencies(check ${test_name})
 	endforeach()
 endfunction()