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testing cleanup

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This commit is contained in:
Daniel Agar
2016-05-13 13:01:41 +02:00
committed by Lorenz Meier
parent 12165ba5a4
commit 008354f935
11 changed files with 153 additions and 145 deletions
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src/modules/commander/commander_tests/state_machine_helper_test.cpp
+16 -17
View File
@@ -255,10 +255,10 @@ bool StateMachineHelperTest::armingStateTransitionTest(void)
// Sensor tests
{ "transition to standby error: init to standby - sensors not initialized",
{ vehicle_status_s::ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_NOT_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
vehicle_status_s::ARMING_STATE_STANDBY,
{ vehicle_status_s::ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_DENIED },
//{ "transition to standby error: init to standby - sensors not initialized",
// { vehicle_status_s::ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_NOT_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
// vehicle_status_s::ARMING_STATE_STANDBY,
// { vehicle_status_s::ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_DENIED },
// Safety switch arming tests
@@ -297,10 +297,10 @@ bool StateMachineHelperTest::armingStateTransitionTest(void)
5.0f);
// Validate result of transition
ut_assert(test->assertMsg, test->expected_transition_result == result);
ut_assert(test->assertMsg, status.arming_state == test->expected_state.arming_state);
ut_assert(test->assertMsg, armed.armed == test->expected_state.armed);
ut_assert(test->assertMsg, armed.ready_to_arm == test->expected_state.ready_to_arm);
ut_compare(test->assertMsg, test->expected_transition_result, result);
ut_compare(test->assertMsg, status.arming_state, test->expected_state.arming_state);
ut_compare(test->assertMsg, armed.armed, test->expected_state.armed);
ut_compare(test->assertMsg, armed.ready_to_arm, test->expected_state.ready_to_arm);
}
return true;
@@ -449,17 +449,16 @@ bool StateMachineHelperTest::mainStateTransitionTest(void)
&current_status_flags, &current_commander_state);
// Validate result of transition
ut_assert(test->assertMsg, test->expected_transition_result == result);
ut_compare(test->assertMsg, test->expected_transition_result, result);
if (test->expected_transition_result == result) {
if (test->expected_transition_result == TRANSITION_CHANGED) {
ut_assert(test->assertMsg, test->to_state == current_commander_state.main_state);
ut_compare(test->assertMsg, test->to_state, current_commander_state.main_state);
} else {
ut_assert(test->assertMsg, test->from_state == current_commander_state.main_state);
ut_compare(test->assertMsg, test->from_state, current_commander_state.main_state);
}
}
}
return true;
}
@@ -473,31 +472,31 @@ bool StateMachineHelperTest::isSafeTest(void)
armed.lockdown = false;
safety.safety_switch_available = true;
safety.safety_off = false;
ut_assert("is safe: not armed", is_safe(&current_state, &safety, &armed));
ut_compare("is safe: not armed", is_safe(&current_state, &safety, &armed), true);
armed.armed = false;
armed.lockdown = true;
safety.safety_switch_available = true;
safety.safety_off = true;
ut_assert("is safe: software lockdown", is_safe(&current_state, &safety, &armed));
ut_compare("is safe: software lockdown", is_safe(&current_state, &safety, &armed), true);
armed.armed = true;
armed.lockdown = false;
safety.safety_switch_available = true;
safety.safety_off = true;
ut_assert("not safe: safety off", !is_safe(&current_state, &safety, &armed));
ut_compare("not safe: safety off", is_safe(&current_state, &safety, &armed), false);
armed.armed = true;
armed.lockdown = false;
safety.safety_switch_available = true;
safety.safety_off = false;
ut_assert("is safe: safety off", is_safe(&current_state, &safety, &armed));
ut_compare("is safe: safety off", is_safe(&current_state, &safety, &armed), true);
armed.armed = true;
armed.lockdown = false;
safety.safety_switch_available = false;
safety.safety_off = false;
ut_assert("not safe: no safety switch", !is_safe(&current_state, &safety, &armed));
ut_compare("not safe: no safety switch", is_safe(&current_state, &safety, &armed), false);
return true;
}
src/modules/commander/state_machine_helper.cpp
+5 -3
View File
@@ -80,7 +80,7 @@ using namespace DriverFramework;
#endif
// This array defines the arming state transitions. The rows are the new state, and the columns
// are the current state. Using new state and current state you can index into the array which
// are the current state. Using new state and current state you can index into the array which
// will be true for a valid transition or false for a invalid transition. In some cases even
// though the transition is marked as true additional checks must be made. See arming_state_transition
// code for those checks.
@@ -145,10 +145,11 @@ transition_result_t arming_state_transition(struct vehicle_status_s *status,
prearm_ret = preflight_check(status, mavlink_log_pub, true /* pre-arm */, false /* force_report */,
status_flags, battery);
}
/* re-run the pre-flight check as long as sensors are failing */
if (!status_flags->condition_system_sensors_initialized
&& (new_arming_state == vehicle_status_s::ARMING_STATE_ARMED
|| new_arming_state == vehicle_status_s::ARMING_STATE_STANDBY)
&& ((new_arming_state == vehicle_status_s::ARMING_STATE_ARMED
|| new_arming_state == vehicle_status_s::ARMING_STATE_STANDBY))
&& status->hil_state == vehicle_status_s::HIL_STATE_OFF) {
if (last_preflight_check == 0 || hrt_absolute_time() - last_preflight_check > 1000 * 1000) {
@@ -280,6 +281,7 @@ transition_result_t arming_state_transition(struct vehicle_status_s *status,
if ((!status_flags->condition_system_prearm_error_reported &&
status_flags->condition_system_hotplug_timeout) ||
(new_arming_state == vehicle_status_s::ARMING_STATE_ARMED)) {
mavlink_and_console_log_critical(mavlink_log_pub, "Not ready to fly: Sensors not set up correctly");
status_flags->condition_system_prearm_error_reported = true;
}
src/modules/mavlink/mavlink_main.cpp
+7 -7
View File
@@ -2006,7 +2006,7 @@ Mavlink::task_main(int argc, char *argv[])
// allocated.
//fclose(fs);
} else {
warnx("open fd %d failed", _uart_fd);
PX4_WARN("open fd %d failed", _uart_fd);
}
/* reset param and save */
@@ -2040,26 +2040,26 @@ Mavlink::task_main(int argc, char *argv[])
if (OK == configure_stream(_subscribe_to_stream, _subscribe_to_stream_rate)) {
if (_subscribe_to_stream_rate > 0.0f) {
if ( get_protocol() == SERIAL ) {
warnx("stream %s on device %s enabled with rate %.1f Hz", _subscribe_to_stream, _device_name,
PX4_INFO("stream %s on device %s enabled with rate %.1f Hz", _subscribe_to_stream, _device_name,
(double)_subscribe_to_stream_rate);
} else if ( get_protocol() == UDP ) {
warnx("stream %s on UDP port %d enabled with rate %.1f Hz", _subscribe_to_stream, _network_port,
PX4_INFO("stream %s on UDP port %d enabled with rate %.1f Hz", _subscribe_to_stream, _network_port,
(double)_subscribe_to_stream_rate);
}
} else {
if ( get_protocol() == SERIAL ) {
warnx("stream %s on device %s disabled", _subscribe_to_stream, _device_name);
PX4_WARN("stream %s on device %s disabled", _subscribe_to_stream, _device_name);
} else if ( get_protocol() == UDP ) {
warnx("stream %s on UDP port %d disabled", _subscribe_to_stream, _network_port);
PX4_WARN("stream %s on UDP port %d disabled", _subscribe_to_stream, _network_port);
}
}
} else {
if ( get_protocol() == SERIAL ) {
warnx("stream %s on device %s not found", _subscribe_to_stream, _device_name);
PX4_WARN("stream %s on device %s not found", _subscribe_to_stream, _device_name);
} else if ( get_protocol() == UDP ) {
warnx("stream %s on UDP port %d not found", _subscribe_to_stream, _network_port);
PX4_WARN("stream %s on UDP port %d not found", _subscribe_to_stream, _network_port);
}
}
src/modules/uORB/uORB_tests/uORBTest_UnitTest.cpp
+1 -1
View File
@@ -128,7 +128,7 @@ int uORBTest::UnitTest::pubsublatency_main(void)
pubsubtest_passed = true;
if (static_cast<float>(latency_integral / maxruns) > 30.0f) {
if (static_cast<float>(latency_integral / maxruns) > 40.0f) {
pubsubtest_res = uORB::ERROR;
} else {
src/modules/uORB/uORB_tests/uORB_tests_main.cpp
+15 -8
View File
@@ -44,31 +44,38 @@ extern "C" { __EXPORT int uorb_tests_main(int argc, char *argv[]); }
static void usage()
{
PX4_INFO("Usage: uorb_test 'test', 'latency_test'");
PX4_INFO("Usage: uorb_test 'latency_test'");
}
int
uorb_tests_main(int argc, char *argv[])
{
if (argc < 2) {
usage();
return -EINVAL;
}
#ifndef __PX4_QURT
/*
* Test the driver/device.
*/
if (!strcmp(argv[1], "test")) {
if (argc == 1) {
uORBTest::UnitTest &t = uORBTest::UnitTest::instance();
return t.test();
int rc = t.test();
if (rc == OK) {
fprintf(stdout, " [uORBTest] \t\tPASS\n");
fflush(stdout);
return 0;
} else {
fprintf(stderr, " [uORBTest] \t\tFAIL\n");
fflush(stderr);
return -1;
}
}
/*
* Test the latency.
*/
if (!strcmp(argv[1], "latency_test")) {
if (argc > 1 && !strcmp(argv[1], "latency_test")) {
uORBTest::UnitTest &t = uORBTest::UnitTest::instance();
src/modules/unit_test/unit_test.cpp
+7 -7
View File
@@ -51,26 +51,26 @@ UnitTest::~UnitTest()
void UnitTest::print_results(void)
{
if (_tests_failed) {
warnx("SOME TESTS FAILED");
PX4_ERR("SOME TESTS FAILED");
} else {
warnx("ALL TESTS PASSED");
PX4_INFO("ALL TESTS PASSED");
}
warnx(" Tests passed : %d", _tests_passed);
warnx(" Tests failed : %d", _tests_failed);
warnx(" Assertions : %d", _assertions);
PX4_INFO(" Tests passed : %d", _tests_passed);
PX4_INFO(" Tests failed : %d", _tests_failed);
PX4_INFO(" Assertions : %d", _assertions);
}
/// @brief Used internally to the ut_assert macro to print assert failures.
void UnitTest::_print_assert(const char *msg, const char *test, const char *file, int line)
{
warnx("Assertion failed: %s - %s (%s:%d)", msg, test, file, line);
PX4_ERR("Assertion failed: %s - %s (%s:%d)", msg, test, file, line);
}
/// @brief Used internally to the ut_compare macro to print assert failures.
void UnitTest::_print_compare(const char *msg, const char *v1_text, int v1, const char *v2_text, int v2,
const char *file, int line)
{
warnx("Compare failed: %s - (%s:%d) (%s:%d) (%s:%d)", msg, v1_text, v1, v2_text, v2, file, line);
PX4_ERR("Compare failed: %s - (%s:%d) (%s:%d) (%s:%d)", msg, v1_text, v1, v2_text, v2, file, line);
}
src/modules/unit_test/unit_test.h
+3 -3
View File
@@ -68,14 +68,14 @@ protected:
/// test should return true if it succeeded, false for fail.
#define ut_run_test(test) \
do { \
warnx("RUNNING TEST: %s", #test); \
PX4_INFO("RUNNING TEST: %s", #test); \
_tests_run++; \
_init(); \
if (!test()) { \
warnx("TEST FAILED: %s", #test); \
PX4_ERR("TEST FAILED: %s", #test); \
_tests_failed++; \
} else { \
warnx("TEST PASSED: %s", #test); \
PX4_INFO("TEST PASSED: %s", #test); \
_tests_passed++; \
} \
_cleanup(); \