From 3efb1be48e7f5b3608a4bfef87a09748b3458c54 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Mon, 5 Jan 2015 18:18:47 -0500
Subject: [PATCH 01/10] move mixer_test and conversion_test to gtest

---
 unittests/CMakeLists.txt      | 23 +++++++++++++++++++++--
 unittests/Makefile            | 21 +++------------------
 unittests/conversion_test.cpp |  9 +++++++++
 unittests/mixer_test.cpp      | 21 +++++++++------------
 4 files changed, 42 insertions(+), 32 deletions(-)
 create mode 100644 unittests/conversion_test.cpp

diff --git a/unittests/CMakeLists.txt b/unittests/CMakeLists.txt
index d264ae8cdc..7a7b2a731d 100644
--- a/unittests/CMakeLists.txt
+++ b/unittests/CMakeLists.txt
@@ -11,16 +11,35 @@ include_directories(${CMAKE_SOURCE_DIR}/../src/modules)
 include_directories(${CMAKE_SOURCE_DIR}/../src/lib)
 
 add_definitions(-D__EXPORT=)
+set(CMAKE_C_FLAGS "-std=c99")
+set(CMAKE_CXX_FLAGS "-std=c++11 -Wno-write-strings")
 
 function(add_gtest)
   foreach(test_name ${ARGN})
     target_link_libraries(${test_name} gtest_main)
-    add_test(${test_name}Test ${test_name})
+    add_test(${test_name} ${test_name})
   endforeach()
 endfunction()
 
 
 # add each test
-# todo: add  mixer_test sbus2_test st24_test sf0x_test
+# todo: add sbus2_test st24_test sf0x_test
 add_executable(autodeclination_test autodeclination_test.cpp ${CMAKE_SOURCE_DIR}/../src/lib/geo_lookup/geo_mag_declination.c)
 add_gtest(autodeclination_test)
+
+
+# mixer_test
+add_executable(mixer_test mixer_test.cpp hrt.cpp
+                          ${CMAKE_SOURCE_DIR}/../src/modules/systemlib/mixer/mixer.cpp
+                          ${CMAKE_SOURCE_DIR}/../src/modules/systemlib/mixer/mixer_group.cpp
+                          ${CMAKE_SOURCE_DIR}/../src/modules/systemlib/mixer/mixer_load.c
+                          ${CMAKE_SOURCE_DIR}/../src/modules/systemlib/mixer/mixer_multirotor.cpp
+                          ${CMAKE_SOURCE_DIR}/../src/modules/systemlib/mixer/mixer_simple.cpp
+                          ${CMAKE_SOURCE_DIR}/../src/modules/systemlib/pwm_limit/pwm_limit.c
+                          ${CMAKE_SOURCE_DIR}/../src/systemcmds/tests/test_mixer.cpp)
+add_gtest(mixer_test)
+
+# conversion_test
+add_executable(conversion_test conversion_test.cpp
+	                       ${CMAKE_SOURCE_DIR}/../src/systemcmds/tests/test_conv.cpp)
+add_gtest(conversion_test)
diff --git a/unittests/Makefile b/unittests/Makefile
index 5faa50bb5f..0c50b38146 100644
--- a/unittests/Makefile
+++ b/unittests/Makefile
@@ -40,18 +40,7 @@ gtest_main.a: gtest-all.o gtest_main.o
 	$(AR) $(ARFLAGS) $@ $^
 
 
-all: mixer_test sbus2_test st24_test sf0x_test
-
-MIXER_FILES=../src/systemcmds/tests/test_mixer.cpp \
-		../src/systemcmds/tests/test_conv.cpp \
-		../src/modules/systemlib/mixer/mixer_simple.cpp \
-		../src/modules/systemlib/mixer/mixer_multirotor.cpp \
-		../src/modules/systemlib/mixer/mixer.cpp \
-		../src/modules/systemlib/mixer/mixer_group.cpp \
-		../src/modules/systemlib/mixer/mixer_load.c \
-		../src/modules/systemlib/pwm_limit/pwm_limit.c \
-		hrt.cpp \
-		mixer_test.cpp
+all: sbus2_test st24_test sf0x_test
 
 SBUS2_FILES=../src/modules/px4iofirmware/sbus.c \
 		hrt.cpp \
@@ -66,9 +55,6 @@ SF0X_FILES= \
 		sf0x_test.cpp \
 		../src/drivers/sf0x/sf0x_parser.cpp
 
-mixer_test: $(MIXER_FILES)
-	$(CC) -o mixer_test $(MIXER_FILES) $(CFLAGS)
-
 sbus2_test: $(SBUS2_FILES)
 	$(CC) -o sbus2_test $(SBUS2_FILES) $(CFLAGS)
 
@@ -82,12 +68,11 @@ cmake_gtests:
 	mkdir -p build
 	cd build && CC=gcc cmake .. && $(MAKE) && $(MAKE) test
 
-unittests: clean mixer_test sbus2_test sf0x_test st24_test cmake_gtests
-	./mixer_test
+unittests: clean sbus2_test sf0x_test st24_test cmake_gtests
 	./sbus2_test
 	./sf0x_test
 	./st24_test
 
 .PHONY: clean
 clean:
-	rm -rf gtest.a gtest_main.a *.o $(ODIR)/*.o *~ core $(INCDIR)/*~ sample_unittest mixer_test sbus2_test st24_test sf0x_test build
+	rm -rf gtest.a gtest_main.a *.o $(ODIR)/*.o *~ core $(INCDIR)/*~ sample_unittest sbus2_test st24_test sf0x_test build
diff --git a/unittests/conversion_test.cpp b/unittests/conversion_test.cpp
new file mode 100644
index 0000000000..99e1c7721d
--- /dev/null
+++ b/unittests/conversion_test.cpp
@@ -0,0 +1,9 @@
+#include <systemlib/mixer/mixer.h>
+#include <systemlib/err.h>
+#include "../../src/systemcmds/tests/tests.h"
+
+#include "gtest/gtest.h"
+
+TEST(ConversionTest, FMU_quad_w) {
+        ASSERT_EQ(test_conv(0, NULL), 0) << "Conversion test failed";
+}
diff --git a/unittests/mixer_test.cpp b/unittests/mixer_test.cpp
index 4919e325c8..1c808e052a 100644
--- a/unittests/mixer_test.cpp
+++ b/unittests/mixer_test.cpp
@@ -2,18 +2,15 @@
 #include <systemlib/err.h>
 #include "../../src/systemcmds/tests/tests.h"
 
-int main(int argc, char *argv[]) {
+#include "gtest/gtest.h"
 
-	int ret;
 
-	warnx("Host execution started");
-
-	char* args[] = {argv[0], "../ROMFS/px4fmu_common/mixers/IO_pass.mix",
-				 "../ROMFS/px4fmu_common/mixers/FMU_quad_w.mix"};
-
-	if (ret = test_mixer(3, args));
-
-	test_conv(1, args);
-
-	return 0;
+TEST(MixerTest, IO_pass) {
+	char* args[] = {"mixer", "../../ROMFS/px4fmu_common/mixers/IO_pass.mix"};
+	ASSERT_EQ(test_mixer(2, args), 0) << "IO_pass.mix failed";
 }
+
+TEST(MixerTest, FMU_quad_w) {
+        char* args[] = {"mixer", "../../ROMFS/px4fmu_common/mixers/FMU_quad_w.mix"};
+        ASSERT_EQ(test_mixer(2, args), 0) << "FMU_quad_w.mix failed";
+} 

From 6287231fecded6b3329e28994d133c0246817864 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Mon, 5 Jan 2015 18:34:13 -0500
Subject: [PATCH 02/10] cmake test harness output everything on failure

---
 unittests/CMakeLists.txt | 12 ++++++++----
 unittests/Makefile       |  2 +-
 2 files changed, 9 insertions(+), 5 deletions(-)

diff --git a/unittests/CMakeLists.txt b/unittests/CMakeLists.txt
index 7a7b2a731d..b4a4ec423e 100644
--- a/unittests/CMakeLists.txt
+++ b/unittests/CMakeLists.txt
@@ -14,20 +14,22 @@ add_definitions(-D__EXPORT=)
 set(CMAKE_C_FLAGS "-std=c99")
 set(CMAKE_CXX_FLAGS "-std=c++11 -Wno-write-strings")
 
+# check
+add_custom_target(check COMMAND ${CMAKE_CTEST_COMMAND} --output-on-failure)
+
 function(add_gtest)
   foreach(test_name ${ARGN})
     target_link_libraries(${test_name} gtest_main)
     add_test(${test_name} ${test_name})
+    add_dependencies(check ${test_name})
   endforeach()
 endfunction()
 
 
 # add each test
-# todo: add sbus2_test st24_test sf0x_test
 add_executable(autodeclination_test autodeclination_test.cpp ${CMAKE_SOURCE_DIR}/../src/lib/geo_lookup/geo_mag_declination.c)
 add_gtest(autodeclination_test)
 
-
 # mixer_test
 add_executable(mixer_test mixer_test.cpp hrt.cpp
                           ${CMAKE_SOURCE_DIR}/../src/modules/systemlib/mixer/mixer.cpp
@@ -40,6 +42,8 @@ add_executable(mixer_test mixer_test.cpp hrt.cpp
 add_gtest(mixer_test)
 
 # conversion_test
-add_executable(conversion_test conversion_test.cpp
-	                       ${CMAKE_SOURCE_DIR}/../src/systemcmds/tests/test_conv.cpp)
+add_executable(conversion_test conversion_test.cpp ${CMAKE_SOURCE_DIR}/../src/systemcmds/tests/test_conv.cpp)
 add_gtest(conversion_test)
+
+
+# todo: add sbus2_test st24_test sf0x_test
diff --git a/unittests/Makefile b/unittests/Makefile
index 0c50b38146..e1d2acacc0 100644
--- a/unittests/Makefile
+++ b/unittests/Makefile
@@ -66,7 +66,7 @@ st24_test: $(ST24_FILES)
 
 cmake_gtests:
 	mkdir -p build
-	cd build && CC=gcc cmake .. && $(MAKE) && $(MAKE) test
+	cd build && CC=gcc cmake .. && $(MAKE) check
 
 unittests: clean sbus2_test sf0x_test st24_test cmake_gtests
 	./sbus2_test

From efb3240bd27fa037f9f68d21208453ab6361deca Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Mon, 5 Jan 2015 18:38:28 -0500
Subject: [PATCH 03/10] gtest mixer_test match original

---
 unittests/mixer_test.cpp | 11 +++--------
 1 file changed, 3 insertions(+), 8 deletions(-)

diff --git a/unittests/mixer_test.cpp b/unittests/mixer_test.cpp
index 1c808e052a..29595c0671 100644
--- a/unittests/mixer_test.cpp
+++ b/unittests/mixer_test.cpp
@@ -5,12 +5,7 @@
 #include "gtest/gtest.h"
 
 
-TEST(MixerTest, IO_pass) {
-	char* args[] = {"mixer", "../../ROMFS/px4fmu_common/mixers/IO_pass.mix"};
-	ASSERT_EQ(test_mixer(2, args), 0) << "IO_pass.mix failed";
+TEST(MixerTest, Mixer) {
+	char* args[] = {"empty", "../../ROMFS/px4fmu_common/mixers/IO_pass.mix", "../../ROMFS/px4fmu_common/mixers/FMU_quad_w.mix"};
+	ASSERT_EQ(test_mixer(3, args), 0) << "IO_pass.mix failed";
 }
-
-TEST(MixerTest, FMU_quad_w) {
-        char* args[] = {"mixer", "../../ROMFS/px4fmu_common/mixers/FMU_quad_w.mix"};
-        ASSERT_EQ(test_mixer(2, args), 0) << "FMU_quad_w.mix failed";
-} 

From 4a09e6370a9d730af001a3c5f2736e69e8c170c2 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Mon, 5 Jan 2015 18:43:26 -0500
Subject: [PATCH 04/10] move sbus2_test to cmake

---
 unittests/CMakeLists.txt |  7 +++++--
 unittests/Makefile       | 14 +++-----------
 2 files changed, 8 insertions(+), 13 deletions(-)

diff --git a/unittests/CMakeLists.txt b/unittests/CMakeLists.txt
index b4a4ec423e..644609a103 100644
--- a/unittests/CMakeLists.txt
+++ b/unittests/CMakeLists.txt
@@ -20,7 +20,7 @@ add_custom_target(check COMMAND ${CMAKE_CTEST_COMMAND} --output-on-failure)
 function(add_gtest)
   foreach(test_name ${ARGN})
     target_link_libraries(${test_name} gtest_main)
-    add_test(${test_name} ${test_name})
+    add_test(NAME ${test_name} COMMAND ${test_name} WORKING_DIRECTORY ${CMAKE_SOURCE_DIR})
     add_dependencies(check ${test_name})
   endforeach()
 endfunction()
@@ -45,5 +45,8 @@ add_gtest(mixer_test)
 add_executable(conversion_test conversion_test.cpp ${CMAKE_SOURCE_DIR}/../src/systemcmds/tests/test_conv.cpp)
 add_gtest(conversion_test)
 
+# sbus2_test
+add_executable(sbus2_test sbus2_test.cpp hrt.cpp)
 
-# todo: add sbus2_test st24_test sf0x_test
+
+# todo: add st24_test sf0x_test
diff --git a/unittests/Makefile b/unittests/Makefile
index e1d2acacc0..1d6db6817c 100644
--- a/unittests/Makefile
+++ b/unittests/Makefile
@@ -40,11 +40,7 @@ gtest_main.a: gtest-all.o gtest_main.o
 	$(AR) $(ARFLAGS) $@ $^
 
 
-all: sbus2_test st24_test sf0x_test
-
-SBUS2_FILES=../src/modules/px4iofirmware/sbus.c \
-		hrt.cpp \
-		sbus2_test.cpp
+all: st24_test sf0x_test
 
 ST24_FILES=../src/lib/rc/st24.c \
 		hrt.cpp \
@@ -55,9 +51,6 @@ SF0X_FILES= \
 		sf0x_test.cpp \
 		../src/drivers/sf0x/sf0x_parser.cpp
 
-sbus2_test: $(SBUS2_FILES)
-	$(CC) -o sbus2_test $(SBUS2_FILES) $(CFLAGS)
-
 sf0x_test: $(SF0X_FILES)
 	$(CC) -o sf0x_test $(SF0X_FILES) $(CFLAGS)
 
@@ -68,11 +61,10 @@ cmake_gtests:
 	mkdir -p build
 	cd build && CC=gcc cmake .. && $(MAKE) check
 
-unittests: clean sbus2_test sf0x_test st24_test cmake_gtests
-	./sbus2_test
+unittests: clean sf0x_test st24_test cmake_gtests
 	./sf0x_test
 	./st24_test
 
 .PHONY: clean
 clean:
-	rm -rf gtest.a gtest_main.a *.o $(ODIR)/*.o *~ core $(INCDIR)/*~ sample_unittest sbus2_test st24_test sf0x_test build
+	rm -rf gtest.a gtest_main.a *.o $(ODIR)/*.o *~ core $(INCDIR)/*~ sample_unittest st24_test sf0x_test build

From 322362d5e0adac332c1fab968831f0569460afd5 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Mon, 5 Jan 2015 18:50:26 -0500
Subject: [PATCH 05/10] move st24_test to cmake and run tests from original
 unittests working directory

---
 unittests/CMakeLists.txt | 11 +++++++++--
 unittests/Makefile       | 14 +++-----------
 unittests/mixer_test.cpp |  2 +-
 3 files changed, 13 insertions(+), 14 deletions(-)

diff --git a/unittests/CMakeLists.txt b/unittests/CMakeLists.txt
index 644609a103..1657797e95 100644
--- a/unittests/CMakeLists.txt
+++ b/unittests/CMakeLists.txt
@@ -12,7 +12,7 @@ include_directories(${CMAKE_SOURCE_DIR}/../src/lib)
 
 add_definitions(-D__EXPORT=)
 set(CMAKE_C_FLAGS "-std=c99")
-set(CMAKE_CXX_FLAGS "-std=c++11 -Wno-write-strings")
+set(CMAKE_CXX_FLAGS "-std=c++11")
 
 # check
 add_custom_target(check COMMAND ${CMAKE_CTEST_COMMAND} --output-on-failure)
@@ -46,7 +46,14 @@ add_executable(conversion_test conversion_test.cpp ${CMAKE_SOURCE_DIR}/../src/sy
 add_gtest(conversion_test)
 
 # sbus2_test
+# TODO: move to gtest
 add_executable(sbus2_test sbus2_test.cpp hrt.cpp)
+add_gtest(sbus2_test)
+
+# st24_test
+# TODO: move to gtest
+add_executable(st24_test st24_test.cpp hrt.cpp ${CMAKE_SOURCE_DIR}/../src/lib/rc/st24.c)
+add_gtest(st24_test)
 
 
-# todo: add st24_test sf0x_test
+# todo: add sf0x_test
diff --git a/unittests/Makefile b/unittests/Makefile
index 1d6db6817c..eb15ebbea4 100644
--- a/unittests/Makefile
+++ b/unittests/Makefile
@@ -40,11 +40,7 @@ gtest_main.a: gtest-all.o gtest_main.o
 	$(AR) $(ARFLAGS) $@ $^
 
 
-all: st24_test sf0x_test
-
-ST24_FILES=../src/lib/rc/st24.c \
-		hrt.cpp \
-		st24_test.cpp
+all: sf0x_test
 
 SF0X_FILES= \
 		hrt.cpp \
@@ -54,17 +50,13 @@ SF0X_FILES= \
 sf0x_test: $(SF0X_FILES)
 	$(CC) -o sf0x_test $(SF0X_FILES) $(CFLAGS)
 
-st24_test: $(ST24_FILES)
-	$(CC) -o st24_test $(ST24_FILES) $(CFLAGS)
-
 cmake_gtests:
 	mkdir -p build
 	cd build && CC=gcc cmake .. && $(MAKE) check
 
-unittests: clean sf0x_test st24_test cmake_gtests
+unittests: clean sf0x_test cmake_gtests
 	./sf0x_test
-	./st24_test
 
 .PHONY: clean
 clean:
-	rm -rf gtest.a gtest_main.a *.o $(ODIR)/*.o *~ core $(INCDIR)/*~ sample_unittest st24_test sf0x_test build
+	rm -rf gtest.a gtest_main.a *.o $(ODIR)/*.o *~ core $(INCDIR)/*~ sample_unittest sf0x_test build
diff --git a/unittests/mixer_test.cpp b/unittests/mixer_test.cpp
index 29595c0671..fd3ece7f87 100644
--- a/unittests/mixer_test.cpp
+++ b/unittests/mixer_test.cpp
@@ -6,6 +6,6 @@
 
 
 TEST(MixerTest, Mixer) {
-	char* args[] = {"empty", "../../ROMFS/px4fmu_common/mixers/IO_pass.mix", "../../ROMFS/px4fmu_common/mixers/FMU_quad_w.mix"};
+	char* args[] = {"empty", "../ROMFS/px4fmu_common/mixers/IO_pass.mix", "../ROMFS/px4fmu_common/mixers/FMU_quad_w.mix"};
 	ASSERT_EQ(test_mixer(3, args), 0) << "IO_pass.mix failed";
 }

From bd130ec397bea54d28643d6331384fd8a0438f0a Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Mon, 5 Jan 2015 18:55:38 -0500
Subject: [PATCH 06/10] move sf0x_test to cmake and remove unittests/Makefile

---
 Makefile                 |  2 +-
 unittests/CMakeLists.txt | 12 ++++----
 unittests/Makefile       | 62 ----------------------------------------
 3 files changed, 8 insertions(+), 68 deletions(-)
 delete mode 100644 unittests/Makefile

diff --git a/Makefile b/Makefile
index 905a60a3b6..64c468d31b 100644
--- a/Makefile
+++ b/Makefile
@@ -236,7 +236,7 @@ testbuild:
 # unit tests.
 .PHONY: tests
 tests:
-	$(Q) (cd $(PX4_BASE)/unittests && $(MAKE) unittests)
+	$(Q) (mkdir -p $(PX4_BASE)/unittests/build && cd $(PX4_BASE)/unittests/build && cmake .. && $(MAKE) unittests)
 
 #
 # Cleanup targets.  'clean' should remove all built products and force
diff --git a/unittests/CMakeLists.txt b/unittests/CMakeLists.txt
index 1657797e95..02e2a4d902 100644
--- a/unittests/CMakeLists.txt
+++ b/unittests/CMakeLists.txt
@@ -12,16 +12,16 @@ include_directories(${CMAKE_SOURCE_DIR}/../src/lib)
 
 add_definitions(-D__EXPORT=)
 set(CMAKE_C_FLAGS "-std=c99")
-set(CMAKE_CXX_FLAGS "-std=c++11")
+set(CMAKE_CXX_FLAGS "-std=c++11 -Wno-write-strings")
 
 # check
-add_custom_target(check COMMAND ${CMAKE_CTEST_COMMAND} --output-on-failure)
+add_custom_target(unittests COMMAND ${CMAKE_CTEST_COMMAND} --output-on-failure)
 
 function(add_gtest)
   foreach(test_name ${ARGN})
     target_link_libraries(${test_name} gtest_main)
     add_test(NAME ${test_name} COMMAND ${test_name} WORKING_DIRECTORY ${CMAKE_SOURCE_DIR})
-    add_dependencies(check ${test_name})
+    add_dependencies(unittests ${test_name})
   endforeach()
 endfunction()
 
@@ -55,5 +55,7 @@ add_gtest(sbus2_test)
 add_executable(st24_test st24_test.cpp hrt.cpp ${CMAKE_SOURCE_DIR}/../src/lib/rc/st24.c)
 add_gtest(st24_test)
 
-
-# todo: add sf0x_test
+# sf0x_test
+# TODO: move to gtest
+add_executable(sf0x_test sf0x_test.cpp ${CMAKE_SOURCE_DIR}/../src/drivers/sf0x/sf0x_parser.cpp)
+add_gtest(sf0x_test)
diff --git a/unittests/Makefile b/unittests/Makefile
deleted file mode 100644
index eb15ebbea4..0000000000
--- a/unittests/Makefile
+++ /dev/null
@@ -1,62 +0,0 @@
-
-CC=g++
-CFLAGS=-I. -I../src/modules -I ../src/include -I../src/drivers \
-	-I../src -I../src/lib -D__EXPORT="" -Dnullptr="0" -lm
-
-# Points to the root of Google Test, relative to where this file is.
-# Remember to tweak this if you move this file.
-GTEST_DIR = gtest
-
-# Flags passed to the preprocessor.
-# Set Google Test's header directory as a system directory, such that
-# the compiler doesn't generate warnings in Google Test headers.
-CFLAGS += -isystem $(GTEST_DIR)/include
-
-# All Google Test headers.  Usually you shouldn't change this
-# definition.
-GTEST_HEADERS = $(GTEST_DIR)/include/gtest/*.h \
-                $(GTEST_DIR)/include/gtest/internal/*.h
-
-# Usually you shouldn't tweak such internal variables, indicated by a
-# trailing _.
-GTEST_SRCS_ = $(GTEST_DIR)/src/*.cc $(GTEST_DIR)/src/*.h $(GTEST_HEADERS)
-
-# For simplicity and to avoid depending on Google Test's
-# implementation details, the dependencies specified below are
-# conservative and not optimized.  This is fine as Google Test
-# compiles fast and for ordinary users its source rarely changes.
-gtest-all.o: $(GTEST_SRCS_)
-	$(CC) $(CFLAGS) -I$(GTEST_DIR) -c \
-            $(GTEST_DIR)/src/gtest-all.cc
-
-gtest_main.o: $(GTEST_SRCS_)
-	$(CC) $(CFLAGS) -I$(GTEST_DIR) -c \
-            $(GTEST_DIR)/src/gtest_main.cc
-
-gtest.a: gtest-all.o
-	$(AR) $(ARFLAGS) $@ $^
-
-gtest_main.a: gtest-all.o gtest_main.o
-	$(AR) $(ARFLAGS) $@ $^
-
-
-all: sf0x_test
-
-SF0X_FILES= \
-		hrt.cpp \
-		sf0x_test.cpp \
-		../src/drivers/sf0x/sf0x_parser.cpp
-
-sf0x_test: $(SF0X_FILES)
-	$(CC) -o sf0x_test $(SF0X_FILES) $(CFLAGS)
-
-cmake_gtests:
-	mkdir -p build
-	cd build && CC=gcc cmake .. && $(MAKE) check
-
-unittests: clean sf0x_test cmake_gtests
-	./sf0x_test
-
-.PHONY: clean
-clean:
-	rm -rf gtest.a gtest_main.a *.o $(ODIR)/*.o *~ core $(INCDIR)/*~ sample_unittest sf0x_test build

From d31b0cd5dbdbe13b783176d3e68290a25d14fb62 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Mon, 5 Jan 2015 22:12:25 -0500
Subject: [PATCH 07/10] move sbus2 to gtest

---
 unittests/sbus2_test.cpp | 39 +++++++++++----------------------------
 1 file changed, 11 insertions(+), 28 deletions(-)

diff --git a/unittests/sbus2_test.cpp b/unittests/sbus2_test.cpp
index ba075f8b3b..ee4f3d1d68 100644
--- a/unittests/sbus2_test.cpp
+++ b/unittests/sbus2_test.cpp
@@ -1,33 +1,23 @@
-
 #include <stdio.h>
-#include <unistd.h>
 #include <string.h>
-#include <systemlib/mixer/mixer.h>
-#include <systemlib/err.h>
+#include <unistd.h>
+
+#include "../../src/systemcmds/tests/tests.h"
 #include <drivers/drv_hrt.h>
 #include <px4iofirmware/px4io.h>
-#include "../../src/systemcmds/tests/tests.h"
+#include <systemlib/err.h>
+#include <systemlib/mixer/mixer.h>
 
-int main(int argc, char *argv[]) {
-	warnx("SBUS2 test started");
+#include "gtest/gtest.h"
 
-	char *filepath = 0;
-
-	if (argc < 2) {
-		warnx("Using default input file");
-		filepath = "testdata/sbus2_r7008SB.txt";
-	} else {
-		filepath = argv[1];
-	}
-
-	warnx("loading data from: %s", filepath);
+TEST(SBUS2Test, SBUS2) {
+	char *filepath = "testdata/sbus2_r7008SB.txt";
 
 	FILE *fp;
-	
 	fp = fopen(filepath,"rt");
 
-	if (!fp)
-		errx(1, "failed opening file");
+	ASSERT_TRUE(fp);
+	warnx("loading data from: %s", filepath);
 
 	float f;
 	unsigned x;
@@ -73,12 +63,5 @@ int main(int argc, char *argv[]) {
 			//sbus_parse(now, frame, &partial_frame_count, rc_values, &num_values, &sbus_failsafe, &sbus_frame_drop, max_channels);
 	}
 
-	if (ret == EOF) {
-		warnx("Test finished, reached end of file");
-		ret = 0;
-	} else {
-		warnx("Test aborted, errno: %d", ret);
-	}
-
-	return ret;
+	ASSERT_EQ(ret, EOF);
 }

From 50e27f60add1e5cd1b61736e6fe82a51060dd5f5 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Tue, 6 Jan 2015 00:28:05 -0500
Subject: [PATCH 08/10] travis use gcc 4.8 for unittests

---
 .travis.yml | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/.travis.yml b/.travis.yml
index b201d5130c..f75d034eb4 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -4,7 +4,10 @@
 language: cpp
 
 before_script:
-  - sudo apt-get update -q
+  - sudo add-apt-repository --yes ppa:ubuntu-toolchain-r/test
+  - sudo apt-get update -qq
+  - if [ "$CXX" = "g++" ]; then sudo apt-get install -qq g++-4.8 gcc-4.8 libstdc++-4.8-dev; fi
+  - if [ "$CXX" = "g++" ]; then export CXX="g++-4.8" CC="gcc-4.8"; fi
 # Travis specific tools
   - sudo apt-get install s3cmd grep zip mailutils
 # General toolchain dependencies

From 3606f5370af4d439afc47d1585a76e0b66e34336 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Tue, 6 Jan 2015 08:46:58 -0500
Subject: [PATCH 09/10] cmake generate mixer_multirotor.generated.h for
 unittests

---
 unittests/CMakeLists.txt | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/unittests/CMakeLists.txt b/unittests/CMakeLists.txt
index 05d5fb214e..39fc514374 100644
--- a/unittests/CMakeLists.txt
+++ b/unittests/CMakeLists.txt
@@ -12,6 +12,7 @@ elseif(COMPILER_SUPPORTS_CXX0X)
 else()
   message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
 endif()
+set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -std=c99")
 
 set(GTEST_DIR gtest)
 add_subdirectory(${GTEST_DIR})
@@ -40,11 +41,14 @@ add_executable(autodeclination_test autodeclination_test.cpp ${CMAKE_SOURCE_DIR}
 add_gtest(autodeclination_test)
 
 # mixer_test
+add_custom_command(OUTPUT ${CMAKE_SOURCE_DIR}/../src/modules/systemlib/mixer/mixer_multirotor.generated.h
+                   COMMAND ${CMAKE_SOURCE_DIR}/../src/modules/systemlib/mixer/multi_tables.py > ${CMAKE_SOURCE_DIR}/../src/modules/systemlib/mixer/mixer_multirotor.generated.h)
 add_executable(mixer_test mixer_test.cpp hrt.cpp
                           ${CMAKE_SOURCE_DIR}/../src/modules/systemlib/mixer/mixer.cpp
                           ${CMAKE_SOURCE_DIR}/../src/modules/systemlib/mixer/mixer_group.cpp
                           ${CMAKE_SOURCE_DIR}/../src/modules/systemlib/mixer/mixer_load.c
                           ${CMAKE_SOURCE_DIR}/../src/modules/systemlib/mixer/mixer_multirotor.cpp
+                          ${CMAKE_SOURCE_DIR}/../src/modules/systemlib/mixer/mixer_multirotor.generated.h
                           ${CMAKE_SOURCE_DIR}/../src/modules/systemlib/mixer/mixer_simple.cpp
                           ${CMAKE_SOURCE_DIR}/../src/modules/systemlib/pwm_limit/pwm_limit.c
                           ${CMAKE_SOURCE_DIR}/../src/systemcmds/tests/test_mixer.cpp)

From 620df8ba0bfdc5f8caf4041e52baa4b83b141dfa Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Tue, 6 Jan 2015 08:50:45 -0500
Subject: [PATCH 10/10] cmake unittests add PX_SRC variable to cleanup long
 paths

---
 unittests/CMakeLists.txt | 36 +++++++++++++++++++-----------------
 1 file changed, 19 insertions(+), 17 deletions(-)

diff --git a/unittests/CMakeLists.txt b/unittests/CMakeLists.txt
index 39fc514374..c2990c59f2 100644
--- a/unittests/CMakeLists.txt
+++ b/unittests/CMakeLists.txt
@@ -17,10 +17,12 @@ set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -std=c99")
 set(GTEST_DIR gtest)
 add_subdirectory(${GTEST_DIR})
 include_directories(${GTEST_DIR}/include)
+
+set(PX_SRC ${CMAKE_SOURCE_DIR}/../src)
 include_directories(${CMAKE_SOURCE_DIR})
-include_directories(${CMAKE_SOURCE_DIR}/../src)
-include_directories(${CMAKE_SOURCE_DIR}/../src/modules)
-include_directories(${CMAKE_SOURCE_DIR}/../src/lib)
+include_directories(${PX_SRC})
+include_directories(${PX_SRC}/modules)
+include_directories(${PX_SRC}/lib)
 
 add_definitions(-D__EXPORT=)
 
@@ -37,25 +39,25 @@ endfunction()
 
 
 # add each test
-add_executable(autodeclination_test autodeclination_test.cpp ${CMAKE_SOURCE_DIR}/../src/lib/geo_lookup/geo_mag_declination.c)
+add_executable(autodeclination_test autodeclination_test.cpp ${PX_SRC}/lib/geo_lookup/geo_mag_declination.c)
 add_gtest(autodeclination_test)
 
 # mixer_test
-add_custom_command(OUTPUT ${CMAKE_SOURCE_DIR}/../src/modules/systemlib/mixer/mixer_multirotor.generated.h
-                   COMMAND ${CMAKE_SOURCE_DIR}/../src/modules/systemlib/mixer/multi_tables.py > ${CMAKE_SOURCE_DIR}/../src/modules/systemlib/mixer/mixer_multirotor.generated.h)
+add_custom_command(OUTPUT ${PX_SRC}/modules/systemlib/mixer/mixer_multirotor.generated.h
+                   COMMAND ${PX_SRC}/modules/systemlib/mixer/multi_tables.py > ${PX_SRC}/modules/systemlib/mixer/mixer_multirotor.generated.h)
 add_executable(mixer_test mixer_test.cpp hrt.cpp
-                          ${CMAKE_SOURCE_DIR}/../src/modules/systemlib/mixer/mixer.cpp
-                          ${CMAKE_SOURCE_DIR}/../src/modules/systemlib/mixer/mixer_group.cpp
-                          ${CMAKE_SOURCE_DIR}/../src/modules/systemlib/mixer/mixer_load.c
-                          ${CMAKE_SOURCE_DIR}/../src/modules/systemlib/mixer/mixer_multirotor.cpp
-                          ${CMAKE_SOURCE_DIR}/../src/modules/systemlib/mixer/mixer_multirotor.generated.h
-                          ${CMAKE_SOURCE_DIR}/../src/modules/systemlib/mixer/mixer_simple.cpp
-                          ${CMAKE_SOURCE_DIR}/../src/modules/systemlib/pwm_limit/pwm_limit.c
-                          ${CMAKE_SOURCE_DIR}/../src/systemcmds/tests/test_mixer.cpp)
+                          ${PX_SRC}/modules/systemlib/mixer/mixer.cpp
+                          ${PX_SRC}/modules/systemlib/mixer/mixer_group.cpp
+                          ${PX_SRC}/modules/systemlib/mixer/mixer_load.c
+                          ${PX_SRC}/modules/systemlib/mixer/mixer_multirotor.cpp
+                          ${PX_SRC}/modules/systemlib/mixer/mixer_multirotor.generated.h
+                          ${PX_SRC}/modules/systemlib/mixer/mixer_simple.cpp
+                          ${PX_SRC}/modules/systemlib/pwm_limit/pwm_limit.c
+                          ${PX_SRC}/systemcmds/tests/test_mixer.cpp)
 add_gtest(mixer_test)
 
 # conversion_test
-add_executable(conversion_test conversion_test.cpp ${CMAKE_SOURCE_DIR}/../src/systemcmds/tests/test_conv.cpp)
+add_executable(conversion_test conversion_test.cpp ${PX_SRC}/systemcmds/tests/test_conv.cpp)
 add_gtest(conversion_test)
 
 # sbus2_test
@@ -65,10 +67,10 @@ add_gtest(sbus2_test)
 
 # st24_test
 # TODO: move to gtest
-add_executable(st24_test st24_test.cpp hrt.cpp ${CMAKE_SOURCE_DIR}/../src/lib/rc/st24.c)
+add_executable(st24_test st24_test.cpp hrt.cpp ${PX_SRC}/lib/rc/st24.c)
 add_gtest(st24_test)
 
 # sf0x_test
 # TODO: move to gtest
-add_executable(sf0x_test sf0x_test.cpp ${CMAKE_SOURCE_DIR}/../src/drivers/sf0x/sf0x_parser.cpp)
+add_executable(sf0x_test sf0x_test.cpp ${PX_SRC}/drivers/sf0x/sf0x_parser.cpp)
 add_gtest(sf0x_test)