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Merge pull request #1592 from dagar/unittests
Move all unittests to cmake
This commit is contained in:
Lorenz Meier
commit
c1161d4e89
2
Makefile
2
Makefile
@ -236,7 +236,7 @@ testbuild:
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# unit tests.
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.PHONY: tests
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tests:
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$(Q) (cd $(PX4_BASE)/unittests && $(MAKE) unittests)
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$(Q) (mkdir -p $(PX4_BASE)/unittests/build && cd $(PX4_BASE)/unittests/build && cmake .. && $(MAKE) unittests)
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#
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# Cleanup targets. 'clean' should remove all built products and force
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@ -2,35 +2,75 @@ cmake_minimum_required(VERSION 2.8)
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project(unittests)
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enable_testing()
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set(GTEST_DIR gtest)
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add_subdirectory(${GTEST_DIR})
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include_directories(${GTEST_DIR}/include)
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include_directories(${CMAKE_SOURCE_DIR})
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include_directories(${CMAKE_SOURCE_DIR}/../src)
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include_directories(${CMAKE_SOURCE_DIR}/../src/modules)
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include_directories(${CMAKE_SOURCE_DIR}/../src/lib)
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add_definitions(-D__EXPORT=)
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function(add_gtest)
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foreach(test_name ${ARGN})
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target_link_libraries(${test_name} gtest_main)
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add_test(${test_name}Test ${test_name})
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endforeach()
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endfunction()
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include(CheckCXXCompilerFlag)
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CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
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CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
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if(COMPILER_SUPPORTS_CXX11)
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
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elseif(COMPILER_SUPPORTS_CXX0X)
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
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else()
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message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
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message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
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endif()
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set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -std=c99")
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set(GTEST_DIR gtest)
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add_subdirectory(${GTEST_DIR})
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include_directories(${GTEST_DIR}/include)
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set(PX_SRC ${CMAKE_SOURCE_DIR}/../src)
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include_directories(${CMAKE_SOURCE_DIR})
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include_directories(${PX_SRC})
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include_directories(${PX_SRC}/modules)
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include_directories(${PX_SRC}/lib)
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add_definitions(-D__EXPORT=)
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# check
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add_custom_target(unittests COMMAND ${CMAKE_CTEST_COMMAND} --output-on-failure)
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function(add_gtest)
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foreach(test_name ${ARGN})
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target_link_libraries(${test_name} gtest_main)
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add_test(NAME ${test_name} COMMAND ${test_name} WORKING_DIRECTORY ${CMAKE_SOURCE_DIR})
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add_dependencies(unittests ${test_name})
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endforeach()
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endfunction()
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# add each test
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# todo: add mixer_test sbus2_test st24_test sf0x_test
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add_executable(autodeclination_test autodeclination_test.cpp ${CMAKE_SOURCE_DIR}/../src/lib/geo_lookup/geo_mag_declination.c)
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add_executable(autodeclination_test autodeclination_test.cpp ${PX_SRC}/lib/geo_lookup/geo_mag_declination.c)
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add_gtest(autodeclination_test)
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# mixer_test
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add_custom_command(OUTPUT ${PX_SRC}/modules/systemlib/mixer/mixer_multirotor.generated.h
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COMMAND ${PX_SRC}/modules/systemlib/mixer/multi_tables.py > ${PX_SRC}/modules/systemlib/mixer/mixer_multirotor.generated.h)
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add_executable(mixer_test mixer_test.cpp hrt.cpp
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${PX_SRC}/modules/systemlib/mixer/mixer.cpp
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${PX_SRC}/modules/systemlib/mixer/mixer_group.cpp
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${PX_SRC}/modules/systemlib/mixer/mixer_load.c
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${PX_SRC}/modules/systemlib/mixer/mixer_multirotor.cpp
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${PX_SRC}/modules/systemlib/mixer/mixer_multirotor.generated.h
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${PX_SRC}/modules/systemlib/mixer/mixer_simple.cpp
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${PX_SRC}/modules/systemlib/pwm_limit/pwm_limit.c
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${PX_SRC}/systemcmds/tests/test_mixer.cpp)
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add_gtest(mixer_test)
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# conversion_test
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add_executable(conversion_test conversion_test.cpp ${PX_SRC}/systemcmds/tests/test_conv.cpp)
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add_gtest(conversion_test)
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# sbus2_test
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# TODO: move to gtest
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add_executable(sbus2_test sbus2_test.cpp hrt.cpp)
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add_gtest(sbus2_test)
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# st24_test
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# TODO: move to gtest
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add_executable(st24_test st24_test.cpp hrt.cpp ${PX_SRC}/lib/rc/st24.c)
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add_gtest(st24_test)
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# sf0x_test
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# TODO: move to gtest
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add_executable(sf0x_test sf0x_test.cpp ${PX_SRC}/drivers/sf0x/sf0x_parser.cpp)
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add_gtest(sf0x_test)
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@ -1,95 +0,0 @@
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CC=$(CXX)
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CFLAGS=-I. -I../src/modules -I ../src/include -I../src/drivers \
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-I../src -I../src/lib -D__EXPORT="" -Dnullptr="0" -lm -std=c++11
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# Points to the root of Google Test, relative to where this file is.
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# Remember to tweak this if you move this file.
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GTEST_DIR = gtest
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# Flags passed to the preprocessor.
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# Set Google Test's header directory as a system directory, such that
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# the compiler doesn't generate warnings in Google Test headers.
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CFLAGS += -isystem $(GTEST_DIR)/include
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# All Google Test headers. Usually you shouldn't change this
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# definition.
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GTEST_HEADERS = $(GTEST_DIR)/include/gtest/*.h \
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$(GTEST_DIR)/include/gtest/internal/*.h
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# Usually you shouldn't tweak such internal variables, indicated by a
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# trailing _.
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GTEST_SRCS_ = $(GTEST_DIR)/src/*.cc $(GTEST_DIR)/src/*.h $(GTEST_HEADERS)
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# For simplicity and to avoid depending on Google Test's
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# implementation details, the dependencies specified below are
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# conservative and not optimized. This is fine as Google Test
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# compiles fast and for ordinary users its source rarely changes.
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gtest-all.o: $(GTEST_SRCS_)
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$(CC) $(CFLAGS) -I$(GTEST_DIR) -c \
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$(GTEST_DIR)/src/gtest-all.cc
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gtest_main.o: $(GTEST_SRCS_)
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$(CC) $(CFLAGS) -I$(GTEST_DIR) -c \
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$(GTEST_DIR)/src/gtest_main.cc
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gtest.a: gtest-all.o
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$(AR) $(ARFLAGS) $@ $^
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gtest_main.a: gtest-all.o gtest_main.o
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$(AR) $(ARFLAGS) $@ $^
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all: mixer_test sbus2_test st24_test sf0x_test
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MIXER_FILES=../src/systemcmds/tests/test_mixer.cpp \
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../src/systemcmds/tests/test_conv.cpp \
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../src/modules/systemlib/mixer/mixer_simple.cpp \
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../src/modules/systemlib/mixer/mixer_multirotor.cpp \
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../src/modules/systemlib/mixer/mixer.cpp \
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../src/modules/systemlib/mixer/mixer_group.cpp \
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../src/modules/systemlib/mixer/mixer_load.c \
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../src/modules/systemlib/pwm_limit/pwm_limit.c \
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hrt.cpp \
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mixer_test.cpp
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include ../src/modules/systemlib/mixer/multi_tables.mk
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SBUS2_FILES=../src/modules/px4iofirmware/sbus.c \
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hrt.cpp \
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sbus2_test.cpp
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ST24_FILES=../src/lib/rc/st24.c \
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hrt.cpp \
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st24_test.cpp
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SF0X_FILES= \
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hrt.cpp \
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sf0x_test.cpp \
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../src/drivers/sf0x/sf0x_parser.cpp
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mixer_test: $(MIXER_FILES)
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$(CC) -o mixer_test $(MIXER_FILES) $(CFLAGS)
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sbus2_test: $(SBUS2_FILES)
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$(CC) -o sbus2_test $(SBUS2_FILES) $(CFLAGS)
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sf0x_test: $(SF0X_FILES)
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$(CC) -o sf0x_test $(SF0X_FILES) $(CFLAGS)
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st24_test: $(ST24_FILES)
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$(CC) -o st24_test $(ST24_FILES) $(CFLAGS)
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cmake_gtests:
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mkdir -p build
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cd build && CC=gcc cmake .. && $(MAKE) && $(MAKE) test
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unittests: clean mixer_test sbus2_test sf0x_test st24_test cmake_gtests
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./mixer_test
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./sbus2_test
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./sf0x_test
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./st24_test
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.PHONY: clean
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clean:
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rm -rf gtest.a gtest_main.a *.o $(ODIR)/*.o *~ core $(INCDIR)/*~ sample_unittest mixer_test sbus2_test st24_test sf0x_test build
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9
unittests/conversion_test.cpp
Normal file
9
unittests/conversion_test.cpp
Normal file
@ -0,0 +1,9 @@
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#include <systemlib/mixer/mixer.h>
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#include <systemlib/err.h>
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#include "../../src/systemcmds/tests/tests.h"
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#include "gtest/gtest.h"
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TEST(ConversionTest, FMU_quad_w) {
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ASSERT_EQ(test_conv(0, NULL), 0) << "Conversion test failed";
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}
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@ -2,18 +2,10 @@
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#include <systemlib/err.h>
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#include "../../src/systemcmds/tests/tests.h"
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int main(int argc, char *argv[]) {
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#include "gtest/gtest.h"
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int ret;
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warnx("Host execution started");
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char* args[] = {argv[0], "../ROMFS/px4fmu_common/mixers/IO_pass.mix",
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"../ROMFS/px4fmu_common/mixers/FMU_quad_w.mix"};
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if (ret = test_mixer(3, args));
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test_conv(1, args);
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return 0;
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TEST(MixerTest, Mixer) {
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char* args[] = {"empty", "../ROMFS/px4fmu_common/mixers/IO_pass.mix", "../ROMFS/px4fmu_common/mixers/FMU_quad_w.mix"};
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ASSERT_EQ(test_mixer(3, args), 0) << "IO_pass.mix failed";
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}
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@ -1,33 +1,23 @@
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#include <stdio.h>
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#include <unistd.h>
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#include <string.h>
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#include <systemlib/mixer/mixer.h>
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#include <systemlib/err.h>
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#include <unistd.h>
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#include "../../src/systemcmds/tests/tests.h"
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#include <drivers/drv_hrt.h>
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#include <px4iofirmware/px4io.h>
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#include "../../src/systemcmds/tests/tests.h"
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#include <systemlib/err.h>
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#include <systemlib/mixer/mixer.h>
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int main(int argc, char *argv[]) {
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warnx("SBUS2 test started");
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#include "gtest/gtest.h"
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char *filepath = 0;
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if (argc < 2) {
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warnx("Using default input file");
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filepath = "testdata/sbus2_r7008SB.txt";
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} else {
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filepath = argv[1];
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}
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warnx("loading data from: %s", filepath);
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TEST(SBUS2Test, SBUS2) {
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char *filepath = "testdata/sbus2_r7008SB.txt";
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FILE *fp;
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fp = fopen(filepath,"rt");
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if (!fp)
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errx(1, "failed opening file");
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ASSERT_TRUE(fp);
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warnx("loading data from: %s", filepath);
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float f;
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unsigned x;
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@ -73,12 +63,5 @@ int main(int argc, char *argv[]) {
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//sbus_parse(now, frame, &partial_frame_count, rc_values, &num_values, &sbus_failsafe, &sbus_frame_drop, max_channels);
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}
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if (ret == EOF) {
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warnx("Test finished, reached end of file");
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ret = 0;
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} else {
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warnx("Test aborted, errno: %d", ret);
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}
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return ret;
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ASSERT_EQ(ret, EOF);
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}
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