From b4da337cd4efe99b296db5544dcbf261eba07e31 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Tue, 3 Jan 2017 02:43:59 -0500 Subject: [PATCH] test coverage cleanup - dataman clean exit code - unit test proper cleanup - add some level of simulated sensors for tests - delete unused test/standard_vtol --- Makefile | 2 +- posix-configs/SITL/init/test/standard_vtol | 131 ------------------ posix-configs/SITL/init/test/test_template.in | 16 ++- src/modules/dataman/dataman.c | 2 +- src/modules/unit_test/unit_test.h | 1 + 5 files changed, 12 insertions(+), 140 deletions(-) delete mode 100644 posix-configs/SITL/init/test/standard_vtol diff --git a/Makefile b/Makefile index 065830b19d..265a8aa08b 100755 --- a/Makefile +++ b/Makefile @@ -290,7 +290,7 @@ tests_coverage: @$(call PX4_RUN,$(MAKE) --no-print-directory tests PX4_CODE_COVERAGE=1 CCACHE_DISABLE=1 HEADLESS=1) @$(call PX4_RUN,lcov --no-checksum --directory $(SRC_DIR) --capture --quiet --output-file coverage.info) @$(call PX4_RUN,lcov --remove coverage.info '/usr/*' 'unittests/googletest/*' --quiet --output-file coverage.info) - @$(call PX4_RUN,genhtml --legend --show-details --function-coverage --quiet --output-directory coverage-html coverage.info ) + @$(call PX4_RUN,genhtml --legend --show-details --function-coverage --quiet --output-directory coverage-html coverage.info) test_startup_shutdown: @$(call PX4_RUN,$(MAKE) --no-print-directory posix_sitl_test gazebo_standard_vtol HEADLESS=1 MEMORY_DEBUG=1) diff --git a/posix-configs/SITL/init/test/standard_vtol b/posix-configs/SITL/init/test/standard_vtol deleted file mode 100644 index 23cf70950c..0000000000 --- a/posix-configs/SITL/init/test/standard_vtol +++ /dev/null @@ -1,131 +0,0 @@ -uorb start -param load -param set MAV_TYPE 22 -param set VT_TYPE 2 -param set VT_MOT_COUNT 4 -param set VT_TRANS_THR 0.75 -param set SYS_AUTOSTART 13006 -param set SYS_RESTART_TYPE 2 -param set SYS_MC_EST_GROUP 2 -dataman start -param set BAT_N_CELLS 3 -param set CAL_GYRO0_ID 2293768 -param set CAL_ACC0_ID 1376264 -param set CAL_ACC1_ID 1310728 -param set CAL_MAG0_ID 196616 -param set CAL_GYRO0_XOFF 0.01 -param set CAL_ACC0_XOFF 0.01 -param set CAL_ACC0_YOFF -0.01 -param set CAL_ACC0_ZOFF 0.01 -param set CAL_ACC0_XSCALE 1.01 -param set CAL_ACC0_YSCALE 1.01 -param set CAL_ACC0_ZSCALE 1.01 -param set CAL_ACC1_XOFF 0.01 -param set CAL_MAG0_XOFF 0.01 -param set MC_ROLLRATE_P 0.3 -param set MC_PITCHRATE_P 0.2 -param set MC_PITCH_P 6 -param set MC_ROLL_P 6 -param set MPC_XY_P 0.8 -param set MPC_ACC_HOR_MAX 2.0 -param set MPC_XY_VEL_P 0.15 -param set MPC_XY_VEL_I 0.2 -param set MPC_XY_VEL_D 0.005 -param set MPC_XY_FF 0.1 -param set MPC_Z_VEL_MAX 1.5 -param set MPC_Z_VEL_P 0.6 -param set MPC_Z_VEL_I 0.15 -param set FW_AIRSPD_MIN 14 -param set FW_AIRSPD_TRIM 16 -param set FW_AIRSPD_MAX 25 -param set SENS_BOARD_ROT 0 -param set SENS_DPRES_OFF 0.001 -param set SENS_BOARD_X_OFF 0.000001 -param set COM_RC_IN_MODE 1 -param set NAV_DLL_ACT 2 -param set NAV_ACC_RAD 5.0 -param set NAV_LOITER_RAD 80 -param set MPC_TKO_SPEED 1.0 -param set MIS_LTRMIN_ALT 10 -param set MIS_TAKEOFF_ALT 10 -param set MIS_YAW_TMT 10 -param set RTL_RETURN_ALT 30.0 -param set RTL_DESCEND_ALT 10.0 -param set RTL_LAND_DELAY 0 -param set COM_DISARM_LAND 2 -param set MPC_ACC_HOR_MAX 2 -param set EKF2_GBIAS_INIT 0.01 -param set EKF2_ANGERR_INIT 0.01 -param set EKF2_MAG_TYPE 1 -simulator start -s -rgbledsim start -tone_alarm start -gyrosim start -accelsim start -barosim start -adcsim start -gpssim start -measairspeedsim start -pwm_out_sim mode_pwm -sleep 1 -sensors start -commander start -land_detector start multicopter -navigator start -ekf2 start -vtol_att_control start -mc_pos_control start -mc_att_control start -fw_pos_control_l1 start -fw_att_control start -mixer load /dev/pwm_output0 ROMFS/sitl/mixers/standard_vtol_sitl.main.mix -mavlink start -u 14556 -r 2000000 -mavlink start -u 14557 -r 2000000 -m onboard -o 14540 -mavlink stream -r 20 -s EXTENDED_SYS_STATE -u 14540 -mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556 -mavlink stream -r 80 -s LOCAL_POSITION_NED -u 14556 -mavlink stream -r 80 -s GLOBAL_POSITION_INT -u 14556 -mavlink stream -r 80 -s ATTITUDE -u 14556 -mavlink stream -r 80 -s ATTITUDE_QUATERNION -u 14556 -mavlink stream -r 80 -s ATTITUDE_TARGET -u 14556 -mavlink stream -r 20 -s RC_CHANNELS -u 14556 -mavlink stream -r 250 -s HIGHRES_IMU -u 14556 -mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556 -logger start -e -t -mavlink boot_complete -ver all - -sleep 13 -commander takeoff -sleep 2 -commander land -sleep 5 - -listener vehicle_status - -logger stop -mavlink stop-all -vtol_att_control stop -mc_pos_control stop -mc_att_control stop -fw_pos_control_l1 stop -fw_att_control stop - -commander stop -navigator stop -land_detector stop -ekf2 stop -sensors stop - -rgbledsim stop -tone_alarm stop -gyrosim stop -accelsim stop -barosim stop -adcsim stop -gpssim stop -measairspeedsim stop - -dataman stop - -shutdown diff --git a/posix-configs/SITL/init/test/test_template.in b/posix-configs/SITL/init/test/test_template.in index 3688a243eb..ba5145b77f 100644 --- a/posix-configs/SITL/init/test/test_template.in +++ b/posix-configs/SITL/init/test/test_template.in @@ -8,14 +8,16 @@ dataman start rgbledsim start tone_alarm start -#simulator start -s -#gyrosim start -#accelsim start -#barosim start +simulator start -t +gyrosim start +accelsim start +barosim start -#adcsim start -#gpssim start -#pwm_out_sim mode_pwm +adcsim start +gpssim start +pwm_out_sim mode_pwm + +ver all mavlink start -u 14556 -r 2000000 diff --git a/src/modules/dataman/dataman.c b/src/modules/dataman/dataman.c index 1fc0bac30f..29a6de791a 100644 --- a/src/modules/dataman/dataman.c +++ b/src/modules/dataman/dataman.c @@ -1275,5 +1275,5 @@ dataman_main(int argc, char *argv[]) return -1; } - return 1; + return 0; } diff --git a/src/modules/unit_test/unit_test.h b/src/modules/unit_test/unit_test.h index 1eae7ae7c8..7253e9ac0b 100644 --- a/src/modules/unit_test/unit_test.h +++ b/src/modules/unit_test/unit_test.h @@ -70,6 +70,7 @@ public: test_class* test = new test_class(); \ bool success = test->run_tests(); \ test->print_results(); \ + delete test; \ return success; \ }