forked from Archive/PX4-Autopilot
add simple posix tests to SITL
This commit is contained in:
Daniel Agar
Nuno Marques
parent
5eb3e695bb
commit
af9690cf08
16
Makefile
16
Makefile
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@ -182,7 +182,9 @@ excelsior_legacy_default: posix_excelsior_legacy qurt_excelsior_legacy
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# Other targets
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# --------------------------------------------------------------------
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.PHONY: qgc_firmware px4fmu_firmware misc_qgc_extra_firmware alt_firmware checks_bootloaders sizes check quick_check
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.PHONY: qgc_firmware px4fmu_firmware misc_qgc_extra_firmware alt_firmware
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.PHONY: sizes check quick_check check_format tests
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.PHONY: check_posix_sitl_default check_px4fmu-v3_default
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# QGroundControl flashable NuttX firmware
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qgc_firmware: px4fmu_firmware misc_qgc_extra_firmware sizes
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@ -241,7 +243,7 @@ check_%:
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# Documentation
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# --------------------------------------------------------------------
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.PHONY: parameters_metadata airframe_metadata px4_metadata module_documentation
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.PHONY: parameters_metadata airframe_metadata module_documentation px4_metadata
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parameters_metadata: posix_sitl_default
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@python $(SRC_DIR)/Tools/px_process_params.py -s $(SRC_DIR)/src --markdown
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@ -308,13 +310,11 @@ format:
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# Testing
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# --------------------------------------------------------------------
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.PHONY: run_tests_posix tests tests_coverage
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.PHONY: tests tests_coverage coveralls_upload codecov_upload
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run_tests_posix:
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tests:
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$(MAKE) --no-print-directory posix_sitl_default test_results
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tests: run_tests_posix
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tests_coverage:
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@$(MAKE) --no-print-directory posix_sitl_default test_coverage_genhtml PX4_CMAKE_BUILD_TYPE=Coverage
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@ -331,7 +331,7 @@ codecov_upload:
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# static analyzers (scan-build, clang-tidy, cppcheck)
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# --------------------------------------------------------------------
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.PHONY: posix_sitl_default-clang scan-build clang-tidy clang-tidy-fix clang-tidy-quiet cppcheck
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.PHONY: posix_sitl_default-clang scan-build clang-tidy clang-tidy-fix clang-tidy-quiet cppcheck check_stack
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posix_sitl_default-clang:
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@mkdir -p $(SRC_DIR)/build_posix_sitl_default-clang
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@ -379,7 +379,7 @@ check_stack: px4fmu-v3_default
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# Cleanup
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# --------------------------------------------------------------------
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.PHONY: clean submodulesclean distclean
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.PHONY: clean submodulesclean submodulesupdate gazeboclean distclean
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clean:
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@rm -rf $(SRC_DIR)/build_*/
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@ -60,6 +60,12 @@ set(config_module_list
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modules/uORB/uORB_tests
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systemcmds/tests
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platforms/posix/tests/hello
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platforms/posix/tests/hrt_test
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platforms/posix/tests/muorb
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platforms/posix/tests/vcdev_test
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platforms/posix/tests/wqueue
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#
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# General system control
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#
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@ -0,0 +1,37 @@
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uorb start
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param load
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param set SYS_RESTART_TYPE 0
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dataman start
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simulator start -t
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tone_alarm start
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gyrosim start
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accelsim start
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barosim start
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adcsim start
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gpssim start
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measairspeedsim start
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pwm_out_sim mode_pwm
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ver all
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list_tasks
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list_devices
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list_topics
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list_files
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mavlink start -x -u 14556 -r 2000000
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mavlink boot_complete
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@cmd_name@ start
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sleep 1
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@cmd_name@ start
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sleep 1
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@cmd_name@ stop
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dataman status
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dataman stop
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shutdown
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@ -15,8 +15,6 @@ gpssim start
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measairspeedsim start
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pwm_out_sim mode_pwm
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help
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ver all
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list_tasks
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@ -40,7 +40,7 @@ if (${CMAKE_SYSTEM_NAME} MATCHES "Darwin")
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endif()
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foreach(test_name ${tests})
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configure_file(${PX4_SOURCE_DIR}/posix-configs/SITL/init/test/test_template.in ${PX4_SOURCE_DIR}/posix-configs/SITL/init/test/test_${test_name}_generated)
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configure_file(${PX4_SOURCE_DIR}/posix-configs/SITL/init/test/tests_template.in ${PX4_SOURCE_DIR}/posix-configs/SITL/init/test/tests_${test_name}_generated)
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add_test(NAME ${test_name}
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COMMAND ${PX4_SOURCE_DIR}/Tools/sitl_run.sh
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@ -48,7 +48,7 @@ foreach(test_name ${tests})
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posix-configs/SITL/init/test
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none
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none
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test_${test_name}_generated
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tests_${test_name}_generated
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${PX4_SOURCE_DIR}
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${PX4_BINARY_DIR}
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WORKING_DIRECTORY ${SITL_WORKING_DIR})
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@ -57,6 +57,33 @@ foreach(test_name ${tests})
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set_tests_properties(${test_name} PROPERTIES PASS_REGULAR_EXPRESSION "${test_name} PASSED")
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endforeach()
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# run arbitrary commands
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set(test_cmds
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hello
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hrt_test
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muorb_test
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vcdev_test
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wqueue_test
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)
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foreach(cmd_name ${test_cmds})
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configure_file(${PX4_SOURCE_DIR}/posix-configs/SITL/init/test/cmd_template.in ${PX4_SOURCE_DIR}/posix-configs/SITL/init/test/cmd_${cmd_name}_generated)
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add_test(NAME posix_${cmd_name}
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COMMAND ${PX4_SOURCE_DIR}/Tools/sitl_run.sh
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$<TARGET_FILE:px4>
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posix-configs/SITL/init/test
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none
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none
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cmd_${cmd_name}_generated
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${PX4_SOURCE_DIR}
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${PX4_BINARY_DIR}
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WORKING_DIRECTORY ${SITL_WORKING_DIR})
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set_tests_properties(posix_${cmd_name} PROPERTIES PASS_REGULAR_EXPRESSION "Shutting down")
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endforeach()
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add_custom_target(test_results
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COMMAND ${CMAKE_CTEST_COMMAND} --output-on-failure -T Test
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DEPENDS px4
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@ -38,6 +38,8 @@
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* @author Mark Charlebois <mcharleb@gmail.com>
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*/
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#include "hello_example.h"
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#include <px4_log.h>
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#include <px4_app.h>
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#include <px4_tasks.h>
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#include <stdio.h>
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@ -46,7 +48,7 @@
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#define SCHED_DEFAULT SCHED_FIFO
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#define SCHED_PRIORITY_MAX sched_get_priority_max(SCHED_FIFO)
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#define SCHED_PRIORITY_DEFAULT sched_get_priority_max(SCHED_FIFO)
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//#define SCHED_PRIORITY_DEFAULT sched_get_priority_max(SCHED_FIFO)
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static int daemon_task; /* Handle of deamon task / thread */
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@ -74,7 +76,7 @@ int hello_main(int argc, char *argv[])
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SCHED_PRIORITY_MAX - 5,
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2000,
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PX4_MAIN,
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(argv) ? (char *const *)&argv[2] : (char *const *)NULL);
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(argv) ? (char *const *)&argv[2] : (char *const *)nullptr);
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return 0;
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}
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@ -32,7 +32,7 @@
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############################################################################
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px4_add_module(
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MODULE platforms__posix__tests__hrt_test
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MAIN hrttest
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MAIN hrt_test
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SRCS
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hrt_test_main.cpp
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hrt_test_start_posix.cpp
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@ -59,7 +59,7 @@ static void timer_expired(void *arg)
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if (i < 5) {
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i++;
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hrt_call_after(&t1, update_interval, timer_expired, (void *)0);
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hrt_call_after(&t1, update_interval, timer_expired, (void *)nullptr);
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}
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}
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@ -83,7 +83,7 @@ int HRTTest::main()
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PX4_INFO("HRT_CALL %d\n", hrt_called(&t1));
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hrt_call_after(&t1, update_interval, timer_expired, (void *)0);
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hrt_call_after(&t1, update_interval, timer_expired, (void *)nullptr);
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sleep(2);
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PX4_INFO("HRT_CALL - %d\n", hrt_called(&t1));
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hrt_cancel(&t1);
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@ -46,11 +46,11 @@
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static int daemon_task; /* Handle of deamon task / thread */
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extern "C" __EXPORT int hrttest_main(int argc, char *argv[]);
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int hrttest_main(int argc, char *argv[])
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extern "C" __EXPORT int hrt_test_main(int argc, char *argv[]);
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int hrt_test_main(int argc, char *argv[])
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{
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if (argc < 2) {
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PX4_WARN("usage: hrttest_main {start|stop|status}\n");
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PX4_WARN("usage: hrt_test_main {start|stop|status}\n");
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return 1;
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}
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@ -67,7 +67,7 @@ int hrttest_main(int argc, char *argv[])
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SCHED_PRIORITY_MAX - 5,
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2000,
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PX4_MAIN,
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(argv) ? (char *const *)&argv[2] : (char *const *)NULL);
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(argv) ? (char *const *)&argv[2] : (char *const *)nullptr);
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return 0;
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}
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@ -60,14 +60,14 @@ int MuorbTestExample::DefaultTest()
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int i = 0;
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orb_advert_t pub_id = orb_advertise(ORB_ID(esc_status), & m_esc_status);
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if (pub_id == 0) {
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if (pub_id == nullptr) {
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PX4_ERR("error publishing esc_status");
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return -1;
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}
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orb_advert_t pub_id_vc = orb_advertise(ORB_ID(vehicle_command), & m_vc);
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if (pub_id_vc == 0) {
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if (pub_id_vc == nullptr) {
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PX4_ERR("error publishing vehicle_command");
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return -1;
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}
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@ -129,7 +129,7 @@ int MuorbTestExample::PingPongTest()
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int i = 0;
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orb_advert_t pub_id_vc = orb_advertise(ORB_ID(vehicle_command), & m_vc);
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if (pub_id_vc == 0) {
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if (pub_id_vc == nullptr) {
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PX4_ERR("error publishing vehicle_command");
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return -1;
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}
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@ -32,7 +32,7 @@
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############################################################################
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px4_add_module(
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MODULE platforms__posix__tests__vcdev_test
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MAIN vcdevtest
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MAIN vcdev_test
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SRCS
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vcdevtest_main.cpp
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vcdevtest_start_posix.cpp
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@ -66,7 +66,7 @@ static int writer_main(int argc, char *argv[])
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return -px4_errno;
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}
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int ret;
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int ret = 0;
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int i = 0;
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while (!g_exit) {
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@ -188,7 +188,7 @@ VCDevExample::~VCDevExample()
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{
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if (_node) {
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delete _node;
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_node = 0;
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_node = nullptr;
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}
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}
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@ -272,7 +272,7 @@ int VCDevExample::main()
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_node = new VCDevNode();
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if (_node == 0) {
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if (_node == nullptr) {
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PX4_INFO("Failed to allocate VCDevNode");
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return -ENOMEM;
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}
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@ -289,7 +289,7 @@ int VCDevExample::main()
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return -px4_errno;
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}
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void *p = 0;
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void *p = nullptr;
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int ret = px4_ioctl(fd, DIOC_GETPRIV, (unsigned long)&p);
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if (ret < 0) {
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@ -318,7 +318,7 @@ int VCDevExample::main()
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SCHED_PRIORITY_MAX - 6,
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2000,
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writer_main,
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(char *const *)NULL);
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(char *const *)nullptr);
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ret = 0;
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@ -47,8 +47,8 @@ static int daemon_task; /* Handle of deamon task / thread */
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//using namespace px4;
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extern "C" __EXPORT int vcdevtest_main(int argc, char *argv[]);
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int vcdevtest_main(int argc, char *argv[])
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extern "C" __EXPORT int vcdev_test_main(int argc, char *argv[]);
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int vcdev_test_main(int argc, char *argv[])
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{
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if (argc < 2) {
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@ -69,7 +69,7 @@ int vcdevtest_main(int argc, char *argv[])
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SCHED_PRIORITY_MAX - 5,
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2000,
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PX4_MAIN,
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(argv) ? (char *const *)&argv[2] : (char *const *)NULL);
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(argv) ? (char *const *)&argv[2] : (char *const *)nullptr);
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return 0;
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}
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@ -71,7 +71,7 @@ int wqueue_test_main(int argc, char *argv[])
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SCHED_PRIORITY_MAX - 5,
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2000,
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PX4_MAIN,
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(argv) ? (char *const *)&argv[2] : (char *const *)NULL);
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(argv) ? (char *const *)&argv[2] : (char *const *)nullptr);
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return 0;
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}
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@ -96,10 +96,9 @@ const struct {
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{"mavlink", mavlink_tests_main, 0},
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{"mc_pos_control", mc_pos_control_tests_main, 0},
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{"sf0x", sf0x_tests_main, 0},
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#ifndef __PX4_DARWIN
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{"uorb", uorb_tests_main, 0},
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{"hysteresis", test_hysteresis, 0},
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#endif /* __PX4_DARWIN */
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{"mixer", test_mixer, OPT_NOJIGTEST},
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{"autodeclination", test_autodeclination, 0},
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{"bson", test_bson, 0},
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