From b03818cd0e49009f795c010f9faf27ffde77311c Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Fri, 2 Jun 2017 20:23:50 -0400
Subject: [PATCH] controllib move old blocks to segway

---
 src/examples/segway/BlockSegwayController.hpp |  2 +-
 src/examples/segway/CMakeLists.txt            |  1 +
 .../uorb => examples/segway}/blocks.cpp       |  0
 .../uorb => examples/segway}/blocks.hpp       |  0
 src/lib/controllib/CMakeLists.txt             |  1 -
 .../controllib_test/controllib_test_main.cpp  | 27 +++----------------
 src/modules/ekf2/ekf2_main.cpp                |  2 +-
 7 files changed, 6 insertions(+), 27 deletions(-)
 rename src/{lib/controllib/uorb => examples/segway}/blocks.cpp (100%)
 rename src/{lib/controllib/uorb => examples/segway}/blocks.hpp (100%)

diff --git a/src/examples/segway/BlockSegwayController.hpp b/src/examples/segway/BlockSegwayController.hpp
index f160bfb216..f0bd874ce6 100644
--- a/src/examples/segway/BlockSegwayController.hpp
+++ b/src/examples/segway/BlockSegwayController.hpp
@@ -2,7 +2,7 @@
 
 #include <px4_posix.h>
 #include <controllib/blocks.hpp>
-#include <controllib/uorb/blocks.hpp>
+#include "blocks.hpp"
 
 using control::BlockPI;
 using control::BlockP;
diff --git a/src/examples/segway/CMakeLists.txt b/src/examples/segway/CMakeLists.txt
index 29d6779e7c..574eb68628 100644
--- a/src/examples/segway/CMakeLists.txt
+++ b/src/examples/segway/CMakeLists.txt
@@ -36,6 +36,7 @@ px4_add_module(
 	STACK_MAIN 1300
 	STACK_MAX 1300
 	SRCS
+		blocks.cpp
 		segway_main.cpp
 		BlockSegwayController.cpp
 		params.c
diff --git a/src/lib/controllib/uorb/blocks.cpp b/src/examples/segway/blocks.cpp
similarity index 100%
rename from src/lib/controllib/uorb/blocks.cpp
rename to src/examples/segway/blocks.cpp
diff --git a/src/lib/controllib/uorb/blocks.hpp b/src/examples/segway/blocks.hpp
similarity index 100%
rename from src/lib/controllib/uorb/blocks.hpp
rename to src/examples/segway/blocks.hpp
diff --git a/src/lib/controllib/CMakeLists.txt b/src/lib/controllib/CMakeLists.txt
index 74fb84aa93..9d37781032 100644
--- a/src/lib/controllib/CMakeLists.txt
+++ b/src/lib/controllib/CMakeLists.txt
@@ -37,7 +37,6 @@ px4_add_module(
 		blocks.cpp
 		block/Block.cpp
 		block/BlockParam.cpp
-		uorb/blocks.cpp
 	DEPENDS
 		platforms__common
 	)
diff --git a/src/lib/controllib/controllib_test/controllib_test_main.cpp b/src/lib/controllib/controllib_test/controllib_test_main.cpp
index 15549a16f2..cbe816a76e 100644
--- a/src/lib/controllib/controllib_test/controllib_test_main.cpp
+++ b/src/lib/controllib/controllib_test/controllib_test_main.cpp
@@ -83,9 +83,8 @@ int basicBlocksTest()
 	failed = failed || blockPDTest() < 0;
 	failed = failed || blockPIDTest() < 0;
 	failed = failed || blockOutputTest() < 0;
-	// known failures
-	//failed = failed || blockRandUniformTest() < 0;
-	//failed = failed || blockRandGaussTest() < 0;
+	failed = failed || blockRandUniformTest() < 0;
+	failed = failed || blockRandGaussTest() < 0;
 	failed = failed || blockStatsTest() < 0;
 	failed = failed || blockDelayTest() < 0;
 	return failed ? -1 : 0;
@@ -532,25 +531,5 @@ extern "C" __EXPORT int controllib_test_main(int argc, char *argv[]);
 
 int controllib_test_main(int argc, char *argv[])
 {
-	(void)argc;
-	(void)argv;
-	blockLimitTest();
-	blockLimitSymTest();
-	blockLowPassTest();
-	blockHighPassTest();
-	blockLowPass2Test();
-	blockIntegralTest();
-	blockIntegralTrapTest();
-	blockDerivativeTest();
-	blockPTest();
-	blockPITest();
-	blockPDTest();
-	blockPIDTest();
-	blockOutputTest();
-	//blockRandUniformTest();
-	// known failures
-	// blockRandGaussTest();
-	blockStatsTest();
-	blockDelayTest();
-	return 0;
+	return basicBlocksTest();
 }
diff --git a/src/modules/ekf2/ekf2_main.cpp b/src/modules/ekf2/ekf2_main.cpp
index e100f71348..8f6c36e098 100644
--- a/src/modules/ekf2/ekf2_main.cpp
+++ b/src/modules/ekf2/ekf2_main.cpp
@@ -62,7 +62,7 @@
 #include <mathlib/math/filter/LowPassFilter2p.hpp>
 #include <platforms/px4_defines.h>
 #include <drivers/drv_hrt.h>
-#include <controllib/uorb/blocks.hpp>
+#include <controllib/blocks.hpp>
 
 #include <uORB/topics/sensor_combined.h>
 #include <uORB/topics/vehicle_gps_position.h>