From 8ddb99971fa7ad96a8c31e49c5db6ee27ea67b27 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Thu, 30 Aug 2018 10:30:37 -0400
Subject: [PATCH] tests template skip mavlink except for mavlink test

---
 Tools/sitl_run.sh                             |  2 +-
 platforms/posix/cmake/sitl_tests.cmake        | 22 +++++++++++++--
 .../test/{tests_template.in => test_mavlink}  |  2 +-
 posix-configs/SITL/init/test/test_template.in | 28 +++++++++++++++++++
 4 files changed, 49 insertions(+), 5 deletions(-)
 rename posix-configs/SITL/init/test/{tests_template.in => test_mavlink} (95%)
 create mode 100644 posix-configs/SITL/init/test/test_template.in

diff --git a/Tools/sitl_run.sh b/Tools/sitl_run.sh
index 5a90cf949d..b195e0a4c3 100755
--- a/Tools/sitl_run.sh
+++ b/Tools/sitl_run.sh
@@ -98,7 +98,7 @@ pushd "$rootfs" >/dev/null
 # Do not exit on failure now from here on because we want the complete cleanup
 set +e
 
-if [[ ${model} == tests* ]] || [[ ${model} == *_generated ]]; then
+if [[ ${model} == test_* ]] || [[ ${model} == *_generated ]]; then
 	sitl_command="$sitl_bin $no_pxh $src_path/ROMFS/px4fmu_test -s ${src_path}/${rcS_path}/${model} -t $src_path/test_data"
 else
 	sitl_command="$sitl_bin $no_pxh $src_path/ROMFS/px4fmu_common -s etc/init.d-posix/rcS -t $src_path/test_data"
diff --git a/platforms/posix/cmake/sitl_tests.cmake b/platforms/posix/cmake/sitl_tests.cmake
index 0edff1e7e6..47209c59f3 100644
--- a/platforms/posix/cmake/sitl_tests.cmake
+++ b/platforms/posix/cmake/sitl_tests.cmake
@@ -19,7 +19,6 @@ set(tests
 	int
 	mathlib
 	matrix
-	mavlink
 	microbench_hrt
 	microbench_math
 	microbench_matrix
@@ -45,7 +44,7 @@ if (${CMAKE_SYSTEM_NAME} MATCHES "Darwin")
 endif()
 
 foreach(test_name ${tests})
-	configure_file(${PX4_SOURCE_DIR}/posix-configs/SITL/init/test/tests_template.in ${PX4_SOURCE_DIR}/posix-configs/SITL/init/test/tests_${test_name}_generated)
+	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)
 
 	add_test(NAME ${test_name}
 		COMMAND ${PX4_SOURCE_DIR}/Tools/sitl_run.sh
@@ -53,7 +52,7 @@ foreach(test_name ${tests})
 			posix-configs/SITL/init/test
 			none
 			none
-			tests_${test_name}_generated
+			test_${test_name}_generated
 			${PX4_SOURCE_DIR}
 			${PX4_BINARY_DIR}
 		WORKING_DIRECTORY ${SITL_WORKING_DIR})
@@ -62,6 +61,23 @@ foreach(test_name ${tests})
 	set_tests_properties(${test_name} PROPERTIES PASS_REGULAR_EXPRESSION "${test_name} PASSED")
 endforeach()
 
+
+# Mavlink test requires mavlink running
+add_test(NAME mavlink
+	COMMAND ${PX4_SOURCE_DIR}/Tools/sitl_run.sh
+		$<TARGET_FILE:px4>
+		posix-configs/SITL/init/test
+		none
+		none
+		test_mavlink
+		${PX4_SOURCE_DIR}
+		${PX4_BINARY_DIR}
+	WORKING_DIRECTORY ${SITL_WORKING_DIR})
+
+set_tests_properties(mavlink PROPERTIES FAIL_REGULAR_EXPRESSION "mavlink FAILED")
+set_tests_properties(mavlink PROPERTIES PASS_REGULAR_EXPRESSION "mavlink PASSED")
+
+
 # run arbitrary commands
 set(test_cmds
 	hello
diff --git a/posix-configs/SITL/init/test/tests_template.in b/posix-configs/SITL/init/test/test_mavlink
similarity index 95%
rename from posix-configs/SITL/init/test/tests_template.in
rename to posix-configs/SITL/init/test/test_mavlink
index f31b7d0937..b6692cdd30 100644
--- a/posix-configs/SITL/init/test/tests_template.in
+++ b/posix-configs/SITL/init/test/test_mavlink
@@ -24,7 +24,7 @@ ver all
 mavlink start -x -u 14556 -r 2000000
 mavlink boot_complete
 
-tests @test_name@
+tests mavlink
 
 dataman status
 
diff --git a/posix-configs/SITL/init/test/test_template.in b/posix-configs/SITL/init/test/test_template.in
new file mode 100644
index 0000000000..a7c68e92b6
--- /dev/null
+++ b/posix-configs/SITL/init/test/test_template.in
@@ -0,0 +1,28 @@
+#!/bin/sh
+# PX4 commands need the 'px4-' prefix in bash.
+# (px4-alias.sh is expected to be in the PATH)
+source px4-alias.sh
+
+uorb start
+
+param load
+param set SYS_RESTART_TYPE 0
+
+dataman start
+
+simulator start -t
+tone_alarm start
+gyrosim start
+accelsim start
+barosim start
+gpssim start
+measairspeedsim start
+pwm_out_sim start
+
+ver all
+
+tests @test_name@
+
+dataman status
+
+shutdown