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px4-firmware/unittests/CMakeLists.txt

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CMake
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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)
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