cmake_minimum_required(VERSION 2.8) include( CMakeForceCompiler ) #set( CMAKE_SYSTEM_NAME px4_posix_clang ) CMAKE_FORCE_C_COMPILER( clang Clang ) CMAKE_FORCE_CXX_COMPILER( clang++ Clang ) #set( CMAKE_C_COMPILER /opt/clang-3.4.2/bin/clang ) #set( CMAKE_CXX_COMPILER /opt/clang-3.4.2/bin/clang++ ) #set( CMAKE_FIND_ROOT_PATH /opt/clang-3.4.2/ ) #set( CMAKE_FIND_ROOT_PATH_MODE_PROGRAM_NEVER ) #set( CMAKE_FIND_ROOT_PATH_MODE_LIBARARY_ONLY ) #set( CMAKE_FIND_ROOT_PATH_MODE_INCLUDE_ONLY ) if("${CMAKE_C_COMPILER_ID}" STREQUAL "Clang") add_compile_options(-Qunused-arguments) endif() if("${CMAKE_CXX_COMPILER_ID}" STREQUAL "Clang") add_compile_options(-Qunused-arguments) endif() project(unittests) enable_testing() include(CheckCXXCompilerFlag) CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11) CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X) if(COMPILER_SUPPORTS_CXX11) set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -fno-exceptions -fno-rtti -fno-threadsafe-statics -D__CUSTOM_FILE_IO__ -g -Wall") elseif(COMPILER_SUPPORTS_CXX0X) set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x -fno-exceptions -fno-rtti -fno-threadsafe-statics -D__CUSTOM_FILE_IO__ -g -Wall") else() message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.") endif() set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -std=gnu99 -g") #set(CMAKE_INCLUDE_SYSTEM_FLAG_C "-isystem" ) #set(CMAKE_INCLUDE_SYSTEM_FLAG_CXX "-isystem" ) set(GTEST_DIR gtest) add_subdirectory(${GTEST_DIR}) include_directories(${GTEST_DIR}/include) set(PX_SRC ${CMAKE_SOURCE_DIR}/../src) include_directories(${CMAKE_SOURCE_DIR}) include_directories(${PX_SRC}) include_directories(${PX_SRC}/modules) include_directories(${PX_SRC}/modules/uORB) include_directories(${PX_SRC}/lib) include_directories(${PX_SRC}/drivers) include_directories(${PX_SRC}/platforms) include_directories(${PX_SRC}/platforms/posix/include) include_directories(${PX_SRC}/platforms/posix/px4_layer) include_directories(${PX_SRC}/drivers/device ) add_definitions(-D__EXPORT=) add_definitions(-D__PX4_TESTS) add_definitions(-Dnoreturn_function=) add_definitions(-Dmain_t=int) add_definitions(-DERROR=-1) add_definitions(-DOK=0) add_definitions(-D_UNIT_TEST=) add_definitions(-D__PX4_POSIX) # check add_custom_target(unittests COMMAND ${CMAKE_CTEST_COMMAND} --output-on-failure) function(add_gtest) foreach(test_name ${ARGN}) if(${CMAKE_SYSTEM_NAME} MATCHES "Darwin") target_link_libraries(${test_name} gtest_main pthread ) add_definitions(-D__PX4_DARWIN) else() target_link_libraries(${test_name} gtest_main pthread rt ) add_definitions(-D__PX4_LINUX) endif() add_test(NAME ${test_name} COMMAND ${test_name} WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}) add_dependencies(unittests ${test_name}) endforeach() endfunction() add_library( px4_platform # ${PX_SRC}/platforms/common/px4_getopt.c ${PX_SRC}/platforms/posix/px4_layer/px4_log.c ${PX_SRC}/platforms/posix/px4_layer/px4_posix_impl.cpp ${PX_SRC}/platforms/posix/px4_layer/px4_posix_tasks.cpp ${PX_SRC}/platforms/posix/work_queue/work_lock.c ${PX_SRC}/platforms/posix/work_queue/hrt_queue.c ${PX_SRC}/platforms/posix/work_queue/work_queue.c ${PX_SRC}/platforms/posix/work_queue/queue.c ${PX_SRC}/platforms/posix/work_queue/work_cancel.c ${PX_SRC}/platforms/posix/work_queue/hrt_work_cancel.c ${PX_SRC}/platforms/posix/work_queue/hrt_thread.c ${PX_SRC}/platforms/posix/work_queue/work_thread.c ${PX_SRC}/platforms/posix/work_queue/dq_rem.c ${PX_SRC}/platforms/posix/work_queue/sq_addlast.c ${PX_SRC}/platforms/posix/work_queue/sq_addafter.c ${PX_SRC}/platforms/posix/work_queue/dq_remfirst.c ${PX_SRC}/platforms/posix/work_queue/sq_remfirst.c ${PX_SRC}/platforms/posix/work_queue/dq_addlast.c ${PX_SRC}/platforms/posix/px4_layer/lib_crc32.c ${PX_SRC}/platforms/posix/px4_layer/drv_hrt.c ${PX_SRC}/drivers/device/device_posix.cpp ${PX_SRC}/drivers/device/vdev.cpp ${PX_SRC}/drivers/device/vfile.cpp ${PX_SRC}/drivers/device/vdev_posix.cpp ${PX_SRC}/drivers/device/i2c_posix.cpp ${PX_SRC}/drivers/device/sim.cpp ${PX_SRC}/drivers/device/ringbuffer.cpp ) #target_include_directories( px4_platform PUBLIC ${PX_SRC}/platforms ) # add each test add_executable(autodeclination_test autodeclination_test.cpp ${PX_SRC}/lib/geo_lookup/geo_mag_declination.c) add_gtest(autodeclination_test) # mixer_test add_custom_command(OUTPUT ${PX_SRC}/modules/systemlib/mixer/mixer_multirotor.generated.h COMMAND ${PX_SRC}/modules/systemlib/mixer/multi_tables.py > ${PX_SRC}/modules/systemlib/mixer/mixer_multirotor.generated.h) add_executable(mixer_test mixer_test.cpp hrt.cpp ${PX_SRC}/modules/systemlib/mixer/mixer.cpp ${PX_SRC}/modules/systemlib/mixer/mixer_group.cpp ${PX_SRC}/modules/systemlib/mixer/mixer_load.c ${PX_SRC}/modules/systemlib/mixer/mixer_multirotor.cpp ${PX_SRC}/modules/systemlib/mixer/mixer_multirotor.generated.h ${PX_SRC}/modules/systemlib/mixer/mixer_simple.cpp ${PX_SRC}/modules/systemlib/pwm_limit/pwm_limit.c ${PX_SRC}/systemcmds/tests/test_mixer.cpp) target_link_libraries( mixer_test px4_platform ) add_gtest(mixer_test) # conversion_test add_executable(conversion_test conversion_test.cpp ${PX_SRC}/systemcmds/tests/test_conv.cpp) target_link_libraries( conversion_test px4_platform ) add_gtest(conversion_test) # sbus2_test add_executable(sbus2_test sbus2_test.cpp hrt.cpp) target_link_libraries( sbus2_test px4_platform ) add_gtest(sbus2_test) # st24_test add_executable(st24_test st24_test.cpp hrt.cpp ${PX_SRC}/lib/rc/st24.c) target_link_libraries( st24_test px4_platform ) add_gtest(st24_test) # sumd_test add_executable(sumd_test sumd_test.cpp hrt.cpp ${PX_SRC}/lib/rc/sumd.c) target_link_libraries( sumd_test px4_platform ) add_gtest(sumd_test) # sf0x_test add_executable(sf0x_test sf0x_test.cpp ${PX_SRC}/drivers/sf0x/sf0x_parser.cpp) target_link_libraries( sf0x_test px4_platform ) add_gtest(sf0x_test) # param_test add_executable(param_test param_test.cpp hrt.cpp uorb_stub.cpp ${PX_SRC}/modules/systemlib/param/param.c ${PX_SRC}/modules/systemlib/bson/tinybson.c ) target_link_libraries( param_test px4_platform ) add_gtest(param_test) # uorb test add_executable(uorb_tests uorb_unittests/uORBCommunicator_gtests.cpp uorb_unittests/uORBCommunicatorMock.cpp uorb_unittests/uORBCommunicatorMockLoopback.cpp ${PX_SRC}/modules/uORB/uORBDevices_posix.cpp ${PX_SRC}/modules/uORB/uORBManager_posix.cpp ${PX_SRC}/modules/uORB/objects_common.cpp ${PX_SRC}/modules/uORB/uORBUtils.cpp ${PX_SRC}/modules/uORB/uORB.cpp ) target_link_libraries( uorb_tests px4_platform ) add_gtest(uorb_tests)