unit_test inline implementation and remove module build

cmake/configs/nuttx_aerocore2_default.cmake

@@ -63,7 +63,6 @@ set(config_module_list
 	#modules/commander/commander_tests
 	#lib/controllib/controllib_test
 	#modules/mavlink/mavlink_tests
-	#modules/unit_test
 	#modules/uORB/uORB_tests
 	#systemcmds/tests
 

cmake/configs/nuttx_auav-x21_default.cmake

@@ -84,7 +84,6 @@ set(config_module_list
 	lib/controllib/controllib_test
 	modules/mavlink/mavlink_tests
 	modules/mc_pos_control/mc_pos_control_tests
-	modules/unit_test
 	modules/uORB/uORB_tests
 	systemcmds/tests
 

cmake/configs/nuttx_mindpx-v2_default.cmake

@@ -86,7 +86,6 @@ set(config_module_list
 	modules/mc_pos_control/mc_pos_control_tests
 	lib/controllib/controllib_test
 	modules/mavlink/mavlink_tests
-	modules/unit_test
 	modules/uORB/uORB_tests
 	systemcmds/tests
 

cmake/configs/nuttx_px4fmu-v2_test.cmake

@@ -84,7 +84,6 @@ set(config_module_list
 	modules/mc_pos_control/mc_pos_control_tests
 	lib/controllib/controllib_test
 	modules/mavlink/mavlink_tests
-	modules/unit_test
 	modules/uORB/uORB_tests
 	systemcmds/tests
 

cmake/configs/nuttx_px4fmu-v3_default.cmake

@@ -91,7 +91,6 @@ set(config_module_list
 	lib/controllib/controllib_test
 	modules/mavlink/mavlink_tests
 	modules/mc_pos_control/mc_pos_control_tests
-	modules/unit_test
 	modules/uORB/uORB_tests
 	systemcmds/tests
 

cmake/configs/nuttx_px4fmu-v4_default.cmake

@@ -90,7 +90,6 @@ set(config_module_list
 	modules/mc_pos_control/mc_pos_control_tests
 	lib/controllib/controllib_test
 	modules/mavlink/mavlink_tests
-	modules/unit_test
 	modules/uORB/uORB_tests
 	systemcmds/tests
 

cmake/configs/nuttx_px4fmu-v4pro_default.cmake

@@ -91,7 +91,6 @@ set(config_module_list
 	lib/controllib/controllib_test
 	modules/mavlink/mavlink_tests
 	modules/mc_pos_control/mc_pos_control_tests
-	modules/unit_test
 	modules/uORB/uORB_tests
 	systemcmds/tests
 

cmake/configs/nuttx_px4fmu-v5_default.cmake

@@ -89,7 +89,6 @@ set(config_module_list
 	lib/controllib/controllib_test
 	modules/mavlink/mavlink_tests
 	modules/mc_pos_control/mc_pos_control_tests
-	modules/unit_test
 	modules/uORB/uORB_tests
 	systemcmds/tests
 

cmake/configs/posix_sitl_default.cmake

@@ -51,7 +51,6 @@ set(config_module_list
 	lib/controllib/controllib_test
 	modules/mavlink/mavlink_tests
 	modules/mc_pos_control/mc_pos_control_tests
-	modules/unit_test
 	modules/uORB/uORB_tests
 	systemcmds/tests
 

src/drivers/sf0x/sf0x_tests/SF0XTest.cpp

@@ -1,4 +1,4 @@
-#include <unit_test/unit_test.h>
+#include <unit_test.h>
 
 #include <drivers/sf0x/sf0x_parser.h>
 

src/include/unit_test.h

@@ -53,15 +53,28 @@ class __EXPORT UnitTest
 {
 public:
 
-	UnitTest();
+	UnitTest() = default;
-	virtual ~UnitTest();
+	virtual ~UnitTest() = default;
 
 	/// @brief Override to run your unit tests. Unit tests should be called using ut_run_test macro.
 	/// @return true: all unit tests succeeded, false: one or more unit tests failed
 	virtual bool run_tests(void) = 0;
 
 	/// @brief Prints results from running of unit tests.
-	void print_results(void);
+	void print_results()
+	{
+		if (_tests_failed) {
+			PX4_ERR("SOME TESTS FAILED");
+
+		} else {
+			PX4_INFO("ALL TESTS PASSED");
+		}
+
+		PX4_INFO("  Tests passed :      %d", _tests_passed);
+		PX4_INFO("  Tests failed :      %d", _tests_failed);
+		PX4_INFO("  Tested assertions : %d", _assertions);
+	}
+
 
 /// @brief Macro to create a function which will run a unit test class and print results.
 #define ut_declare_test(test_function, test_class)	\
@@ -175,14 +188,21 @@ protected:
 	virtual void _init(void) { };		///< Run before each unit test. Override to provide custom behavior.
 	virtual void _cleanup(void) { };	///< Run after each unit test. Override to provide custom behavior.
 
-	void _print_assert(const char *msg, const char *test, const char *file, int line);
+	void _print_assert(const char *msg, const char *test, const char *file, int line)
-	void _print_compare(const char *msg, const char *v1_text, int v1, const char *v2_text, int v2, const char *file,
+	{
-			    int line);
+		PX4_ERR("Assertion failed: %s - %s (%s:%d)", msg, test, file, line);
+	}
 
-	int _tests_run;		///< The number of individual unit tests run
+	void _print_compare(const char *msg, const char *v1_text, int v1, const char *v2_text, int v2, const char *file,
-	int _tests_failed;	///< The number of unit tests which failed
+			    int line)
-	int _tests_passed;	///< The number of unit tests which passed
+	{
-	int _assertions;	///< Total number of assertions tested by all unit tests
+		PX4_ERR("Compare failed: %s - (%s:%d) (%s:%d) (%s:%d)", msg, v1_text, v1, v2_text, v2, file, line);
+	}
+
+	int _tests_run{0};		///< The number of individual unit tests run
+	int _tests_failed{0};	///< The number of unit tests which failed
+	int _tests_passed{0};	///< The number of unit tests which passed
+	int _assertions{0};	///< Total number of assertions tested by all unit tests
 };
 
 #endif /* UNIT_TEST_H_ */

src/lib/rc/rc_tests/RCTest.cpp

@@ -1,4 +1,4 @@
-#include <unit_test/unit_test.h>
+#include <unit_test.h>
 
 #include <systemlib/err.h>
 

src/modules/commander/commander_tests/state_machine_helper_test.cpp

@@ -41,7 +41,7 @@
 #include "state_machine_helper_test.h"
 
 #include "../state_machine_helper.h"
-#include <unit_test/unit_test.h>
+#include <unit_test.h>
 
 class StateMachineHelperTest : public UnitTest
 {

src/modules/mavlink/mavlink_tests/mavlink_ftp_test.h

@@ -36,7 +36,7 @@
 
 #pragma once
 
-#include <unit_test/unit_test.h>
+#include <unit_test.h>
 #include "../mavlink_bridge_header.h"
 #include "../mavlink_ftp.h"
 

src/modules/mc_pos_control/mc_pos_control_tests/mc_pos_control_tests.cpp

@@ -40,7 +40,7 @@
  */
 
 #include <systemlib/err.h>
-#include <unit_test/unit_test.h>
+#include <unit_test.h>
 #include <mathlib/mathlib.h>
 
 extern "C" __EXPORT int mc_pos_control_tests_main(int argc, char *argv[]);

src/modules/unit_test/CMakeLists.txt

@@ -1,41 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2015 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-px4_add_module(
-	MODULE modules__unit_test
-	COMPILE_FLAGS
-	SRCS
-		unit_test.cpp
-	DEPENDS
-		platforms__common
-	)
-# vim: set noet ft=cmake fenc=utf-8 ff=unix :

src/modules/unit_test/unit_test.cpp

@@ -1,76 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
- *   Author: Simon Wilks <sjwilks@gmail.com>
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#include "unit_test.h"
-
-#include <systemlib/err.h>
-
-UnitTest::UnitTest() :
-	_tests_run(0),
-	_tests_failed(0),
-	_tests_passed(0),
-	_assertions(0)
-{
-}
-
-UnitTest::~UnitTest()
-{
-}
-
-void UnitTest::print_results()
-{
-	if (_tests_failed) {
-		PX4_ERR("SOME TESTS FAILED");
-
-	} else {
-		PX4_INFO("ALL TESTS PASSED");
-	}
-
-	PX4_INFO("  Tests passed :      %d", _tests_passed);
-	PX4_INFO("  Tests failed :      %d", _tests_failed);
-	PX4_INFO("  Tested assertions : %d", _assertions);
-}
-
-/// @brief Used internally to the ut_assert macro to print assert failures.
-void UnitTest::_print_assert(const char *msg, const char *test, const char *file, int line)
-{
-	PX4_ERR("Assertion failed: %s - %s (%s:%d)", msg, test, file, line);
-}
-
-/// @brief Used internally to the ut_compare macro to print assert failures.
-void UnitTest::_print_compare(const char *msg, const char *v1_text, int v1, const char *v2_text, int v2,
-			      const char *file, int line)
-{
-	PX4_ERR("Compare failed: %s - (%s:%d) (%s:%d) (%s:%d)", msg, v1_text, v1, v2_text, v2, file, line);
-}

src/systemcmds/tests/test_autodeclination.cpp

@@ -1,4 +1,4 @@
-#include <unit_test/unit_test.h>
+#include <unit_test.h>
 
 #include <drivers/drv_hrt.h>
 #include <geo/geo.h>

src/systemcmds/tests/test_conv.cpp

@@ -51,7 +51,7 @@
 #include <math.h>
 #include <float.h>
 
-#include <unit_test/unit_test.h>
+#include <unit_test.h>
 #include <px4iofirmware/protocol.h>
 
 int test_conv(int argc, char *argv[])

src/systemcmds/tests/test_float.cpp

@@ -1,4 +1,4 @@
-#include <unit_test/unit_test.h>
+#include <unit_test.h>
 
 #include <px4_config.h>
 #include <cfloat>

src/systemcmds/tests/test_hysteresis.cpp

@@ -1,4 +1,4 @@
-#include <unit_test/unit_test.h>
+#include <unit_test.h>
 
 #include <systemlib/hysteresis/hysteresis.h>
 

src/systemcmds/tests/test_int.cpp

@@ -1,4 +1,4 @@
-#include <unit_test/unit_test.h>
+#include <unit_test.h>
 
 #include <errno.h>
 #include <fcntl.h>

src/systemcmds/tests/test_mathlib.cpp

@@ -31,7 +31,7 @@
  *
  ****************************************************************************/
 
-#include <unit_test/unit_test.h>
+#include <unit_test.h>
 
 #include <errno.h>
 #include <fcntl.h>

src/systemcmds/tests/test_matrix.cpp

@@ -1,5 +1,5 @@
 
-#include <unit_test/unit_test.h>
+#include <unit_test.h>
 
 #include <matrix/math.hpp>
 #include <matrix/filter.hpp>

src/systemcmds/tests/test_mixer.cpp

@@ -64,7 +64,7 @@
 
 #include "tests_main.h"
 
-#include <unit_test/unit_test.h>
+#include <unit_test.h>
 
 static int	mixer_callback(uintptr_t handle,
 			       uint8_t control_group,

src/systemcmds/tests/test_parameters.cpp

@@ -1,4 +1,4 @@
-#include <unit_test/unit_test.h>
+#include <unit_test.h>
 
 class ParameterTest : public UnitTest
 {