fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-20 02:33:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

add simple posix tests to SITL

Browse Source
This commit is contained in:
Daniel Agar
2017-09-28 16:50:47 +01:00
committed by Nuno Marques
parent 5eb3e695bb
commit af9690cf08
15 changed files with 105 additions and 36 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/firmware/posix/sitl_tests.cmake
+29 -2
View File
@@ -40,7 +40,7 @@ if (${CMAKE_SYSTEM_NAME} MATCHES "Darwin")
endif()
foreach(test_name ${tests})
configure_file(${PX4_SOURCE_DIR}/posix-configs/SITL/init/test/test_template.in ${PX4_SOURCE_DIR}/posix-configs/SITL/init/test/test_${test_name}_generated)
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)
add_test(NAME ${test_name}
COMMAND ${PX4_SOURCE_DIR}/Tools/sitl_run.sh
@@ -48,7 +48,7 @@ foreach(test_name ${tests})
posix-configs/SITL/init/test
none
none
test_${test_name}_generated
tests_${test_name}_generated
${PX4_SOURCE_DIR}
${PX4_BINARY_DIR}
WORKING_DIRECTORY ${SITL_WORKING_DIR})
@@ -57,6 +57,33 @@ foreach(test_name ${tests})
set_tests_properties(${test_name} PROPERTIES PASS_REGULAR_EXPRESSION "${test_name} PASSED")
endforeach()
# run arbitrary commands
set(test_cmds
hello
hrt_test
muorb_test
vcdev_test
wqueue_test
)
foreach(cmd_name ${test_cmds})
configure_file(${PX4_SOURCE_DIR}/posix-configs/SITL/init/test/cmd_template.in ${PX4_SOURCE_DIR}/posix-configs/SITL/init/test/cmd_${cmd_name}_generated)
add_test(NAME posix_${cmd_name}
COMMAND ${PX4_SOURCE_DIR}/Tools/sitl_run.sh
$<TARGET_FILE:px4>
posix-configs/SITL/init/test
none
none
cmd_${cmd_name}_generated
${PX4_SOURCE_DIR}
${PX4_BINARY_DIR}
WORKING_DIRECTORY ${SITL_WORKING_DIR})
set_tests_properties(posix_${cmd_name} PROPERTIES PASS_REGULAR_EXPRESSION "Shutting down")
endforeach()
add_custom_target(test_results
COMMAND ${CMAKE_CTEST_COMMAND} --output-on-failure -T Test
DEPENDS px4
src/platforms/posix/tests/hello/hello_start_posix.cpp
+4 -2
View File
@@ -38,6 +38,8 @@
* @author Mark Charlebois <mcharleb@gmail.com>
*/
#include "hello_example.h"
#include <px4_log.h>
#include <px4_app.h>
#include <px4_tasks.h>
#include <stdio.h>
@@ -46,7 +48,7 @@
#define SCHED_DEFAULT SCHED_FIFO
#define SCHED_PRIORITY_MAX sched_get_priority_max(SCHED_FIFO)
#define SCHED_PRIORITY_DEFAULT sched_get_priority_max(SCHED_FIFO)
//#define SCHED_PRIORITY_DEFAULT sched_get_priority_max(SCHED_FIFO)
static int daemon_task; /* Handle of deamon task / thread */
@@ -74,7 +76,7 @@ int hello_main(int argc, char *argv[])
SCHED_PRIORITY_MAX - 5,
2000,
PX4_MAIN,
(argv) ? (char *const *)&argv[2] : (char *const *)NULL);
(argv) ? (char *const *)&argv[2] : (char *const *)nullptr);
return 0;
}
src/platforms/posix/tests/hrt_test/CMakeLists.txt
+1 -1
View File
@@ -32,7 +32,7 @@
############################################################################
px4_add_module(
MODULE platforms__posix__tests__hrt_test
MAIN hrttest
MAIN hrt_test
SRCS
hrt_test_main.cpp
hrt_test_start_posix.cpp
src/platforms/posix/tests/hrt_test/hrt_test.cpp
+2 -2
View File
@@ -59,7 +59,7 @@ static void timer_expired(void *arg)
if (i < 5) {
i++;
hrt_call_after(&t1, update_interval, timer_expired, (void *)0);
hrt_call_after(&t1, update_interval, timer_expired, (void *)nullptr);
}
}
@@ -83,7 +83,7 @@ int HRTTest::main()
PX4_INFO("HRT_CALL %d\n", hrt_called(&t1));
hrt_call_after(&t1, update_interval, timer_expired, (void *)0);
hrt_call_after(&t1, update_interval, timer_expired, (void *)nullptr);
sleep(2);
PX4_INFO("HRT_CALL - %d\n", hrt_called(&t1));
hrt_cancel(&t1);
src/platforms/posix/tests/hrt_test/hrt_test_start_posix.cpp
+4 -4
View File
@@ -46,11 +46,11 @@
static int daemon_task; /* Handle of deamon task / thread */
extern "C" __EXPORT int hrttest_main(int argc, char *argv[]);
int hrttest_main(int argc, char *argv[])
extern "C" __EXPORT int hrt_test_main(int argc, char *argv[]);
int hrt_test_main(int argc, char *argv[])
{
if (argc < 2) {
PX4_WARN("usage: hrttest_main {start|stop|status}\n");
PX4_WARN("usage: hrt_test_main {start|stop|status}\n");
return 1;
}
@@ -67,7 +67,7 @@ int hrttest_main(int argc, char *argv[])
SCHED_PRIORITY_MAX - 5,
2000,
PX4_MAIN,
(argv) ? (char *const *)&argv[2] : (char *const *)NULL);
(argv) ? (char *const *)&argv[2] : (char *const *)nullptr);
return 0;
}
src/platforms/posix/tests/muorb/muorb_test_example.cpp
+3 -3
View File
@@ -60,14 +60,14 @@ int MuorbTestExample::DefaultTest()
int i = 0;
orb_advert_t pub_id = orb_advertise(ORB_ID(esc_status), & m_esc_status);
if (pub_id == 0) {
if (pub_id == nullptr) {
PX4_ERR("error publishing esc_status");
return -1;
}
orb_advert_t pub_id_vc = orb_advertise(ORB_ID(vehicle_command), & m_vc);
if (pub_id_vc == 0) {
if (pub_id_vc == nullptr) {
PX4_ERR("error publishing vehicle_command");
return -1;
}
@@ -129,7 +129,7 @@ int MuorbTestExample::PingPongTest()
int i = 0;
orb_advert_t pub_id_vc = orb_advertise(ORB_ID(vehicle_command), & m_vc);
if (pub_id_vc == 0) {
if (pub_id_vc == nullptr) {
PX4_ERR("error publishing vehicle_command");
return -1;
}
src/platforms/posix/tests/vcdev_test/CMakeLists.txt
+1 -1
View File
@@ -32,7 +32,7 @@
############################################################################
px4_add_module(
MODULE platforms__posix__tests__vcdev_test
MAIN vcdevtest
MAIN vcdev_test
SRCS
vcdevtest_main.cpp
vcdevtest_start_posix.cpp
src/platforms/posix/tests/vcdev_test/vcdevtest_example.cpp
+5 -5
View File
@@ -66,7 +66,7 @@ static int writer_main(int argc, char *argv[])
return -px4_errno;
}
int ret;
int ret = 0;
int i = 0;
while (!g_exit) {
@@ -188,7 +188,7 @@ VCDevExample::~VCDevExample()
{
if (_node) {
delete _node;
_node = 0;
_node = nullptr;
}
}
@@ -272,7 +272,7 @@ int VCDevExample::main()
_node = new VCDevNode();
if (_node == 0) {
if (_node == nullptr) {
PX4_INFO("Failed to allocate VCDevNode");
return -ENOMEM;
}
@@ -289,7 +289,7 @@ int VCDevExample::main()
return -px4_errno;
}
void *p = 0;
void *p = nullptr;
int ret = px4_ioctl(fd, DIOC_GETPRIV, (unsigned long)&p);
if (ret < 0) {
@@ -318,7 +318,7 @@ int VCDevExample::main()
SCHED_PRIORITY_MAX - 6,
2000,
writer_main,
(char *const *)NULL);
(char *const *)nullptr);
ret = 0;
src/platforms/posix/tests/vcdev_test/vcdevtest_start_posix.cpp
+3 -3
View File
@@ -47,8 +47,8 @@ static int daemon_task; /* Handle of deamon task / thread */
//using namespace px4;
extern "C" __EXPORT int vcdevtest_main(int argc, char *argv[]);
int vcdevtest_main(int argc, char *argv[])
extern "C" __EXPORT int vcdev_test_main(int argc, char *argv[]);
int vcdev_test_main(int argc, char *argv[])
{
if (argc < 2) {
@@ -69,7 +69,7 @@ int vcdevtest_main(int argc, char *argv[])
SCHED_PRIORITY_MAX - 5,
2000,
PX4_MAIN,
(argv) ? (char *const *)&argv[2] : (char *const *)NULL);
(argv) ? (char *const *)&argv[2] : (char *const *)nullptr);
return 0;
}
src/platforms/posix/tests/wqueue/wqueue_start_posix.cpp
+1 -1
View File
@@ -71,7 +71,7 @@ int wqueue_test_main(int argc, char *argv[])
SCHED_PRIORITY_MAX - 5,
2000,
PX4_MAIN,
(argv) ? (char *const *)&argv[2] : (char *const *)NULL);
(argv) ? (char *const *)&argv[2] : (char *const *)nullptr);
return 0;
}
src/systemcmds/tests/tests_main.c
+1 -2
View File
@@ -96,10 +96,9 @@ const struct {
{"mavlink", mavlink_tests_main, 0},
{"mc_pos_control", mc_pos_control_tests_main, 0},
{"sf0x", sf0x_tests_main, 0},
#ifndef __PX4_DARWIN
{"uorb", uorb_tests_main, 0},
{"hysteresis", test_hysteresis, 0},
#endif /* __PX4_DARWIN */
{"mixer", test_mixer, OPT_NOJIGTEST},
{"autodeclination", test_autodeclination, 0},
{"bson", test_bson, 0},