forked from Archive/PX4-Autopilot
159 lines
4.6 KiB
CMake
159 lines
4.6 KiB
CMake
#=============================================================================
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# tests
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#
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# tests command arguments
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set(tests
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atomic_bitset
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bezier
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bitset
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bson
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dataman
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file2
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float
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hrt
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int
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IntrusiveQueue
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IntrusiveSortedList
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List
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mathlib
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matrix
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param
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parameters
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perf
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search_min
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sleep
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versioning
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)
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foreach(test_name ${tests})
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set(test_name_prefix sitl-${test_name})
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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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add_test(NAME ${test_name_prefix}
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COMMAND $<TARGET_FILE:px4>
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-s ${PX4_SOURCE_DIR}/posix-configs/SITL/init/test/test_${test_name}_generated
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-t ${PX4_SOURCE_DIR}/test_data
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${PX4_SOURCE_DIR}/ROMFS/px4fmu_test
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WORKING_DIRECTORY ${SITL_WORKING_DIR}
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)
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set_tests_properties(${test_name_prefix} PROPERTIES FAIL_REGULAR_EXPRESSION "${test_name} FAILED")
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set_tests_properties(${test_name_prefix} PROPERTIES PASS_REGULAR_EXPRESSION "${test_name} PASSED")
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sanitizer_fail_test_on_error(${test_name_prefix})
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endforeach()
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# standalone tests
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set(cmd_tests
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controllib_test
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lightware_laser_test
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rc_tests
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uorb_tests
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)
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foreach(test_name ${cmd_tests})
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set(test_name_prefix sitl-${test_name})
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configure_file(${PX4_SOURCE_DIR}/posix-configs/SITL/init/test/test_cmd_template.in ${PX4_SOURCE_DIR}/posix-configs/SITL/init/test/test_${test_name}_generated)
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add_test(NAME ${test_name_prefix}
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COMMAND $<TARGET_FILE:px4>
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-s ${PX4_SOURCE_DIR}/posix-configs/SITL/init/test/test_${test_name}_generated
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-t ${PX4_SOURCE_DIR}/test_data
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${PX4_SOURCE_DIR}/ROMFS/px4fmu_test
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WORKING_DIRECTORY ${SITL_WORKING_DIR}
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)
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set_tests_properties(${test_name_prefix} PROPERTIES FAIL_REGULAR_EXPRESSION "FAIL")
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set_tests_properties(${test_name_prefix} PROPERTIES PASS_REGULAR_EXPRESSION "PASS")
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sanitizer_fail_test_on_error(${test_name_prefix})
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endforeach()
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# Mavlink test requires mavlink running
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add_test(NAME sitl-mavlink
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COMMAND $<TARGET_FILE:px4>
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-s ${PX4_SOURCE_DIR}/posix-configs/SITL/init/test/test_mavlink
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-t ${PX4_SOURCE_DIR}/test_data
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${PX4_SOURCE_DIR}/ROMFS/px4fmu_test
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WORKING_DIRECTORY ${SITL_WORKING_DIR}
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)
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set_tests_properties(sitl-mavlink PROPERTIES FAIL_REGULAR_EXPRESSION "FAIL")
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set_tests_properties(sitl-mavlink PROPERTIES PASS_REGULAR_EXPRESSION "ALL TESTS PASSED")
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sanitizer_fail_test_on_error(sitl-mavlink)
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# IMU filtering
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add_test(NAME sitl-imu_filtering
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COMMAND $<TARGET_FILE:px4>
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-s ${PX4_SOURCE_DIR}/posix-configs/SITL/init/test/test_imu_filtering
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-t ${PX4_SOURCE_DIR}/test_data
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${PX4_SOURCE_DIR}/ROMFS/px4fmu_test
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WORKING_DIRECTORY ${SITL_WORKING_DIR}
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)
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set_tests_properties(sitl-imu_filtering PROPERTIES FAIL_REGULAR_EXPRESSION "FAIL")
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set_tests_properties(sitl-imu_filtering PROPERTIES PASS_REGULAR_EXPRESSION "ALL TESTS PASSED")
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sanitizer_fail_test_on_error(sitl-imu_filtering)
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# # Shutdown test
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# add_test(NAME sitl-shutdown
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# COMMAND $<TARGET_FILE:px4>
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# -s ${PX4_SOURCE_DIR}/posix-configs/SITL/init/test/test_shutdown
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# -t ${PX4_SOURCE_DIR}/test_data
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# ${PX4_SOURCE_DIR}/ROMFS/px4fmu_test
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# WORKING_DIRECTORY ${SITL_WORKING_DIR}
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# )
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# #set_tests_properties(shutdown PROPERTIES FAIL_REGULAR_EXPRESSION "shutdown FAILED")
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# set_tests_properties(sitl-shutdown PROPERTIES PASS_REGULAR_EXPRESSION "Exiting NOW.")
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# sanitizer_fail_test_on_error(sitl-shutdown)
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# Dynamic module loading test
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add_test(NAME dyn
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COMMAND $<TARGET_FILE:px4> -s "${PX4_SOURCE_DIR}/posix-configs/SITL/init/test/test_dyn_hello"
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WORKING_DIRECTORY ${PX4_BINARY_DIR}/src/examples/dyn_hello
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)
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set_tests_properties(dyn PROPERTIES PASS_REGULAR_EXPRESSION "1: PASSED")
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sanitizer_fail_test_on_error(dyn)
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# run arbitrary commands
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set(test_cmds
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hrt_test
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cdev_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 $<TARGET_FILE:px4>
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${PX4_SOURCE_DIR}/ROMFS/px4fmu_test
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-s ${PX4_SOURCE_DIR}/posix-configs/SITL/init/test/cmd_${cmd_name}_generated
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-t ${PX4_SOURCE_DIR}/test_data
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WORKING_DIRECTORY ${SITL_WORKING_DIR}
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)
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sanitizer_fail_test_on_error(posix_${cmd_name})
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set_tests_properties(posix_${cmd_name} PROPERTIES PASS_REGULAR_EXPRESSION "Exiting NOW.")
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endforeach()
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if(CMAKE_BUILD_TYPE STREQUAL Coverage)
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setup_target_for_coverage(test_coverage "${CMAKE_CTEST_COMMAND} --output-on-failure -T Test" tests)
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setup_target_for_coverage(generate_coverage "${CMAKE_COMMAND} -E echo" generic)
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# TODO:
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#setup_target_for_coverage(mavsdk_coverage "${PX4_SOURCE_DIR}/test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --iterations 1 --fail-early" mavsdk)
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endif()
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