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WIP startup_shutdown test with ASAN on

This commit is contained in:
Daniel Agar 2017-01-01 21:53:49 -05:00 committed by Lorenz Meier
parent f8d7c53537
commit dc9a71b674
4 changed files with 151 additions and 4 deletions
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12
Makefile
View File

@ -285,11 +285,15 @@ tests: run_tests_posix
@$(call PX4_RUN,$(MAKE) --no-print-directory unittest)
tests_coverage:
@$(call PX4_RUN,$(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 --zerocounters --directory $(SRC_DIR) --quiet)
@$(call PX4_RUN,lcov --capture --initial --directory $(SRC_DIR) --quiet --output-file coverage.info)
@$(call PX4_RUN,$(MAKE) --no-print-directory tests PX4_CODE_COVERAGE=1 CCACHE_DISABLE=1 HEADLESS=1)
@$(call PX4_RUN,lcov --no-checksum --directory $(SRC_DIR) --capture --quiet --output-file coverage.info)
@$(call PX4_RUN,lcov --remove coverage.info '/usr/*' 'unittests/googletest/*' 'mavlink/*' --quiet --output-file coverage.info)
#@(lcov --list coverage.info)
@$(call PX4_RUN,genhtml coverage.info --quiet --output-directory coverage-html)
@$(call PX4_RUN,genhtml --legend --show-details --function-coverage --quiet --output-directory coverage-html coverage.info )
test_startup_shutdown:
@$(call PX4_RUN,$(MAKE) --no-print-directory posix_sitl_test gazebo_standard_vtol HEADLESS=1 MEMORY_DEBUG=1)
package_firmware:
@zip --junk-paths Firmware.zip `find Binaries/. -name \*.px4`

6
cmake/common/px4_base.cmake
View File

@ -701,6 +701,7 @@ function(px4_add_common_flags)
)
endif()
# address sanitizer
if ($ENV{MEMORY_DEBUG} MATCHES "1")
message(STATUS "address sanitizer enabled")
if ("${OS}" STREQUAL "nuttx")
@ -740,6 +741,11 @@ function(px4_add_common_flags)
)
endif()
# code coverage
if ($ENV{PX4_CODE_COVERAGE} MATCHES "1")
set(max_optimization -O0)
endif()
if (NOT ${CMAKE_C_COMPILER_ID} MATCHES ".*Clang.*")
list(APPEND _optimization_flags
-fno-strength-reduce

5
cmake/configs/posix_sitl_test.cmake Normal file
View File

@ -0,0 +1,5 @@
include(cmake/configs/posix_sitl_default.cmake)
set(config_sitl_rcS_dir
posix-configs/SITL/init/test
)

132
posix-configs/SITL/init/test/standard_vtol Normal file
View File

@ -0,0 +1,132 @@
uorb start
param load
param set MAV_TYPE 22
param set VT_TYPE 2
param set VT_MOT_COUNT 4
param set VT_TRANS_THR 0.75
param set SYS_AUTOSTART 13006
param set SYS_RESTART_TYPE 2
param set SYS_MC_EST_GROUP 2
dataman start
param set BAT_N_CELLS 3
param set CAL_GYRO0_ID 2293768
param set CAL_ACC0_ID 1376264
param set CAL_ACC1_ID 1310728
param set CAL_MAG0_ID 196616
param set CAL_GYRO0_XOFF 0.01
param set CAL_ACC0_XOFF 0.01
param set CAL_ACC0_YOFF -0.01
param set CAL_ACC0_ZOFF 0.01
param set CAL_ACC0_XSCALE 1.01
param set CAL_ACC0_YSCALE 1.01
param set CAL_ACC0_ZSCALE 1.01
param set CAL_ACC1_XOFF 0.01
param set CAL_MAG0_XOFF 0.01
param set MC_ROLLRATE_P 0.3
param set MC_PITCHRATE_P 0.2
param set MC_PITCH_P 6
param set MC_ROLL_P 6
param set MPC_XY_P 0.8
param set MPC_ACC_HOR_MAX 2.0
param set MPC_XY_VEL_P 0.15
param set MPC_XY_VEL_I 0.2
param set MPC_XY_VEL_D 0.005
param set MPC_XY_FF 0.1
param set MPC_Z_VEL_MAX 1.5
param set MPC_Z_VEL_P 0.6
param set MPC_Z_VEL_I 0.15
param set FW_AIRSPD_MIN 14
param set FW_AIRSPD_TRIM 16
param set FW_AIRSPD_MAX 25
param set SENS_BOARD_ROT 0
param set SENS_DPRES_OFF 0.001
param set SENS_BOARD_X_OFF 0.000001
param set COM_RC_IN_MODE 1
param set NAV_DLL_ACT 2
param set NAV_ACC_RAD 5.0
param set NAV_LOITER_RAD 80
param set MPC_TKO_SPEED 1.0
param set MIS_LTRMIN_ALT 10
param set MIS_TAKEOFF_ALT 10
param set MIS_YAW_TMT 10
param set RTL_RETURN_ALT 30.0
param set RTL_DESCEND_ALT 10.0
param set RTL_LAND_DELAY 0
param set COM_DISARM_LAND 2
param set MPC_ACC_HOR_MAX 2
param set EKF2_GBIAS_INIT 0.01
param set EKF2_ANGERR_INIT 0.01
param set EKF2_MAG_TYPE 1
simulator start -s
rgbledsim start
tone_alarm start
gyrosim start
accelsim start
barosim start
adcsim start
gpssim start
measairspeedsim start
pwm_out_sim mode_pwm
sleep 1
sensors start
commander start
land_detector start multicopter
navigator start
ekf2 start
vtol_att_control start
mc_pos_control start
mc_att_control start
fw_pos_control_l1 start
fw_att_control start
mixer load /dev/pwm_output0 ROMFS/sitl/mixers/standard_vtol_sitl.main.mix
mavlink start -u 14556 -r 2000000
mavlink start -u 14557 -r 2000000 -m onboard -o 14540
mavlink stream -r 20 -s EXTENDED_SYS_STATE -u 14540
mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556
mavlink stream -r 80 -s LOCAL_POSITION_NED -u 14556
mavlink stream -r 80 -s GLOBAL_POSITION_INT -u 14556
mavlink stream -r 80 -s ATTITUDE -u 14556
mavlink stream -r 80 -s ATTITUDE_QUATERNION -u 14556
mavlink stream -r 80 -s ATTITUDE_TARGET -u 14556
mavlink stream -r 20 -s RC_CHANNELS -u 14556
mavlink stream -r 250 -s HIGHRES_IMU -u 14556
mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556
logger start -e -t
mavlink boot_complete
ver all
sleep 13
commander takeoff
sleep 2
commander land
sleep 5
listener vehicle_status
logger stop
mavlink stop-all
vtol_att_control stop
mc_pos_control stop
mc_att_control stop
fw_pos_control_l1 stop
fw_att_control stop
commander stop
navigator stop
land_detector stop
ekf2 stop
sensors stop
rgbledsim stop
tone_alarm stop
gyrosim stop
accelsim stop
barosim stop
adcsim stop
gpssim stop
measairspeedsim stop
dataman stop
uorb stop
shutdown