move parameter unittest into systemcmds

src/drivers/device/vdev.cpp

@@ -569,7 +569,6 @@ void VDev::showDevices()
 
 	pthread_mutex_unlock(&devmutex);
 
-#ifndef __PX4_UNIT_TESTS
 	PX4_INFO("DF Devices:");
 	const char *dev_path;
 	unsigned int index = 0;
@@ -583,8 +582,6 @@ void VDev::showDevices()
 			PX4_INFO("   %s", dev_path);
 		}
 	} while (i == 0);
-
-#endif
 }
 
 void VDev::showTopics()

src/firmware/posix/sitl_tests.cmake

@@ -22,6 +22,7 @@ set(tests
 	mc_pos_control
 	mixer
 	param
+	parameters
 	perf
 	rc
 	servo

src/modules/systemlib/param/param.c

@@ -84,7 +84,6 @@
 static const char *param_default_file = PX4_ROOTFSDIR"/eeprom/parameters";
 static char *param_user_file = NULL;
 
-
 #if 0
 # define debug(fmt, args...)		do { warnx(fmt, ##args); } while(0)
 #else
@@ -111,15 +110,8 @@ static bool autosave_disabled = false;
 /**
  * Array of static parameter info.
  */
-#ifdef _UNIT_TEST
-extern struct param_info_s	param_array[];
-extern struct param_info_s	*param_info_base;
-extern struct param_info_s	*param_info_limit;
-#define param_info_count	(param_info_limit - param_info_base)
-#else
 static const struct param_info_s *param_info_base = (const struct param_info_s *) &px4_parameters;
-#define	param_info_count		px4_parameters.param_count
-#endif /* _UNIT_TEST */
+#define	param_info_count px4_parameters.param_count
 
 /**
  * Storage for modified parameters.

src/modules/systemlib/param/param_shmem.c

@@ -96,15 +96,8 @@ static bool autosave_disabled = false;
 /**
  * Array of static parameter info.
  */
-#ifdef _UNIT_TEST
-extern struct param_info_s	param_array[];
-extern struct param_info_s	*param_info_base;
-extern struct param_info_s	*param_info_limit;
-#define param_info_count	(param_info_limit - param_info_base)
-#else
 static struct param_info_s *param_info_base = (struct param_info_s *) &px4_parameters;
 #define	param_info_count		px4_parameters.param_count
-#endif /* _UNIT_TEST */
 
 /**
  * Storage for modified parameters.

src/platforms/px4_config.h

@@ -47,7 +47,5 @@
 #include <board_config.h>
 
 #elif defined (__PX4_POSIX)
-#  if !defined(__PX4_UNIT_TESTS)
-#    include <board_config.h>
-#  endif
+# include <board_config.h>
 #endif

src/systemcmds/tests/CMakeLists.txt

@@ -34,16 +34,16 @@
 set(srcs
 	test_adc.c
 	test_autodeclination.cpp
-	test_dataman.c
-	test_hysteresis.cpp
 	test_bson.c
 	test_conv.cpp
+	test_dataman.c
 	test_file.c
 	test_file2.c
 	test_float.cpp
 	test_gpio.c
 	test_hott_telemetry.c
 	test_hrt.c
+	test_hysteresis.cpp
 	test_int.cpp
 	test_jig_voltages.c
 	test_led.c
@@ -52,6 +52,7 @@ set(srcs
 	test_mixer.cpp
 	test_mount.c
 	test_param.c
+	test_parameters.cpp
 	test_perf.c
 	test_ppm_loopback.c
 	test_rc.c

src/systemcmds/tests/params.c

@@ -0,0 +1,24 @@
+/**
+ * @group Testing
+ */
+PARAM_DEFINE_INT32(TEST_1, 2);
+
+/**
+ * @group Testing
+ */
+PARAM_DEFINE_INT32(TEST_2, 4);
+
+/**
+ * @group Testing
+ */
+PARAM_DEFINE_INT32(TEST_RC_X, 8);
+
+/**
+ * @group Testing
+ */
+PARAM_DEFINE_INT32(TEST_RC2_X, 16);
+
+/**
+ * @group Testing
+ */
+PARAM_DEFINE_INT32(TEST_PARAMS, 12345678);

src/systemcmds/tests/test_param.c

@@ -46,11 +46,6 @@
 #define PARAM_MAGIC1 12345678
 #define PARAM_MAGIC2 0xa5a5a5a5
 
-/**
- * @group Testing
- */
-PARAM_DEFINE_INT32(TEST_PARAMS, 12345678);
-
 int
 test_param(int argc, char *argv[])
 {

src/systemcmds/tests/test_parameters.cpp

@@ -0,0 +1,172 @@
+#include <unit_test/unit_test.h>
+
+class ParameterTest : public UnitTest
+{
+public:
+	virtual bool run_tests();
+
+	ParameterTest()
+	{
+		p0 = param_find("TEST_RC_X");
+		p1 = param_find("TEST_RC2_X");
+		p2 = param_find("TEST_1");
+		p3 = param_find("TEST_2");
+	}
+
+private:
+
+	param_t p0{PARAM_INVALID};
+	param_t p1{PARAM_INVALID};
+	param_t p2{PARAM_INVALID};
+	param_t p3{PARAM_INVALID};
+
+	bool _assert_parameter_int_value(param_t param, int32_t expected);
+	bool _set_all_int_parameters_to(int32_t value);
+
+	bool SimpleFind();
+	bool ResetAll();
+	bool ResetAllExcludesOne();
+	bool ResetAllExcludesTwo();
+	bool ResetAllExcludesBoundaryCheck();
+	bool ResetAllExcludesWildcard();
+};
+
+bool ParameterTest::_assert_parameter_int_value(param_t param, int32_t expected)
+{
+	int32_t value;
+	int result = param_get(param, &value);
+	ut_compare("param_get did not return parameter", 0, result);
+	ut_compare("value for param doesn't match default value", expected, value);
+
+	return true;
+}
+
+bool ParameterTest::_set_all_int_parameters_to(int32_t value)
+{
+	param_set(p0, &value);
+	param_set(p1, &value);
+	param_set(p2, &value);
+	param_set(p3, &value);
+
+	bool ret = false;
+
+	ret = ret || _assert_parameter_int_value(p0, value);
+	ret = ret || _assert_parameter_int_value(p1, value);
+	ret = ret || _assert_parameter_int_value(p2, value);
+	ret = ret || _assert_parameter_int_value(p3, value);
+
+	return ret;
+}
+
+bool ParameterTest::SimpleFind()
+{
+	param_t param = param_find("TEST_2");
+
+	ut_assert_true(PARAM_INVALID != param);
+
+	int32_t value;
+	int result = param_get(param, &value);
+
+	ut_compare("param_get did not return parameter", 0, result);
+	ut_compare("value of returned parameter does not match", 4, value);
+
+	return true;
+}
+
+bool ParameterTest::ResetAll()
+{
+	_set_all_int_parameters_to(50);
+
+	param_reset_all();
+
+	bool ret = false;
+
+	ret = ret || _assert_parameter_int_value(p0, 8);
+	ret = ret || _assert_parameter_int_value(p1, 16);
+	ret = ret || _assert_parameter_int_value(p2, 2);
+	ret = ret || _assert_parameter_int_value(p3, 4);
+
+	return ret;
+}
+
+bool ParameterTest::ResetAllExcludesOne()
+{
+	_set_all_int_parameters_to(50);
+
+	const char *excludes[] = {"TEST_RC_X"};
+	param_reset_excludes(excludes, 1);
+
+	bool ret = false;
+
+	ret = ret || _assert_parameter_int_value(p0, 50);
+	ret = ret || _assert_parameter_int_value(p1, 16);
+	ret = ret || _assert_parameter_int_value(p2, 2);
+	ret = ret || _assert_parameter_int_value(p3, 4);
+
+	return ret;
+}
+
+bool ParameterTest::ResetAllExcludesTwo()
+{
+	_set_all_int_parameters_to(50);
+
+	const char *excludes[] = {"TEST_RC_X", "TEST_1"};
+	param_reset_excludes(excludes, 2);
+
+	bool ret = false;
+
+	ret = ret || _assert_parameter_int_value(p0, 50);
+	ret = ret || _assert_parameter_int_value(p1, 16);
+	ret = ret || _assert_parameter_int_value(p2, 50);
+	ret = ret || _assert_parameter_int_value(p3, 4);
+
+	return ret;
+}
+
+bool ParameterTest::ResetAllExcludesBoundaryCheck()
+{
+	_set_all_int_parameters_to(50);
+
+	const char *excludes[] = {"TEST_RC_X", "TEST_1"};
+	param_reset_excludes(excludes, 1);
+
+	bool ret = false;
+
+	ret = ret || _assert_parameter_int_value(p0, 50);
+	ret = ret || _assert_parameter_int_value(p1, 16);
+	ret = ret || _assert_parameter_int_value(p2, 2);
+	ret = ret || _assert_parameter_int_value(p3, 4);
+
+	return ret;
+}
+
+bool ParameterTest::ResetAllExcludesWildcard()
+{
+	_set_all_int_parameters_to(50);
+
+	const char *excludes[] = {"TEST_RC*"};
+	param_reset_excludes(excludes, 1);
+
+	bool ret = false;
+
+	ret = ret || _assert_parameter_int_value(p0, 50);
+	ret = ret || _assert_parameter_int_value(p1, 50);
+	ret = ret || _assert_parameter_int_value(p2, 2);
+	ret = ret || _assert_parameter_int_value(p3, 4);
+
+	return ret;
+}
+
+bool ParameterTest::run_tests()
+{
+	ut_run_test(SimpleFind);
+	ut_run_test(ResetAll);
+	ut_run_test(ResetAllExcludesOne);
+	ut_run_test(ResetAllExcludesTwo);
+	ut_run_test(ResetAllExcludesBoundaryCheck);
+	ut_run_test(ResetAllExcludesWildcard);
+
+	return (_tests_failed == 0);
+}
+
+ut_declare_test_c(test_parameters, ParameterTest)

src/systemcmds/tests/tests_main.c

@@ -116,6 +116,7 @@ const struct {
 	{"matrix",		test_matrix,	0},
 	{"mount",		test_mount,	OPT_NOJIGTEST | OPT_NOALLTEST},
 	{"param",		test_param,	0},
+	{"parameters",	test_parameters,	0},
 	{"perf",		test_perf,	OPT_NOJIGTEST},
 	{"ppm",			test_ppm,	OPT_NOJIGTEST | OPT_NOALLTEST},
 	{"ppm_loopback",	test_ppm_loopback,	OPT_NOALLTEST},

src/systemcmds/tests/tests_main.h

@@ -86,6 +86,7 @@ extern int	test_uart_break(int argc, char *argv[]);
 extern int	test_uart_console(int argc, char *argv[]);
 extern int	test_uart_loopback(int argc, char *argv[]);
 extern int	test_uart_send(int argc, char *argv[]);
+extern int	test_parameters(int argc, char *argv[]);
 
 /* external */
 extern int commander_tests_main(int argc, char *argv[]);