GTest functional tests that include parameters and uORB messaging (#12521)

* Add kdevelop to gitignore

* Add test stubs

* Rename px4_add_gtest to px4_add_unit_gtest

* Add infrastructure to run functional tests

* Add example tests with parameters and uorb messages

* Fix memory issues in destructors in uORB manager and CDev

* Add a more real-world test of the collision prevention

src/lib/CollisionPrevention/CMakeLists.txt

@@ -33,3 +33,5 @@
 
 px4_add_library(CollisionPrevention CollisionPrevention.cpp)
 target_compile_options(CollisionPrevention PRIVATE -Wno-cast-align) # TODO: fix and enable
+
+px4_add_functional_gtest(SRC CollisionPreventionTest.cpp LINKLIBS CollisionPrevention )

src/lib/CollisionPrevention/CollisionPrevention.cpp

@@ -53,6 +53,18 @@ CollisionPrevention::~CollisionPrevention()
 	if (_mavlink_log_pub != nullptr) {
 		orb_unadvertise(_mavlink_log_pub);
 	}
+
+	if (_constraints_pub != nullptr) {
+		orb_unadvertise(_constraints_pub);
+	}
+
+	if (_obstacle_distance_pub != nullptr) {
+		orb_unadvertise(_obstacle_distance_pub);
+	}
+
+	if (_pub_vehicle_command != nullptr) {
+		orb_unadvertise(_pub_vehicle_command);
+	}
 }
 
 void CollisionPrevention::_publishConstrainedSetpoint(const Vector2f &original_setpoint,
@@ -102,7 +114,7 @@ void CollisionPrevention::_updateOffboardObstacleDistance(obstacle_distance_s &o
 void CollisionPrevention::_updateDistanceSensor(obstacle_distance_s &obstacle)
 {
 	for (unsigned i = 0; i < ORB_MULTI_MAX_INSTANCES; i++) {
-		distance_sensor_s distance_sensor;
+		distance_sensor_s distance_sensor {};
 		_sub_distance_sensor[i].copy(&distance_sensor);
 
 		// consider only instaces with updated, valid data and orientations useful for collision prevention

src/lib/CollisionPrevention/CollisionPreventionTest.cpp

@@ -0,0 +1,135 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2019 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <gtest/gtest.h>
+#include <CollisionPrevention/CollisionPrevention.hpp>
+
+// to run: make tests TESTFILTER=CollisionPrevention
+
+class CollisionPreventionTest : public ::testing::Test
+{
+public:
+	void SetUp() override
+	{
+		uORB::Manager::initialize();
+		param_init();
+	}
+
+	void TearDown() override
+	{
+		param_reset_all();
+		uORB::Manager::terminate();
+	}
+};
+
+TEST_F(CollisionPreventionTest, instantiation) { CollisionPrevention cp(nullptr); }
+
+TEST_F(CollisionPreventionTest, behaviorOff)
+{
+	// GIVEN: a simple setup condition
+	CollisionPrevention cp(nullptr);
+	matrix::Vector2f original_setpoint(10, 0);
+	float max_speed = 3.f;
+	matrix::Vector2f curr_pos(0, 0);
+	matrix::Vector2f curr_vel(2, 0);
+
+	// WHEN: we check if the setpoint should be modified
+	matrix::Vector2f modified_setpoint = original_setpoint;
+	cp.modifySetpoint(modified_setpoint, max_speed, curr_pos, curr_vel);
+
+	// THEN: it should be the same
+	EXPECT_EQ(original_setpoint, modified_setpoint);
+}
+
+TEST_F(CollisionPreventionTest, withoutObstacleMessageNothing)
+{
+	// GIVEN: a simple setup condition
+	CollisionPrevention cp(nullptr);
+	matrix::Vector2f original_setpoint(10, 0);
+	float max_speed = 3.f;
+	matrix::Vector2f curr_pos(0, 0);
+	matrix::Vector2f curr_vel(2, 0);
+
+	// AND: a parameter handle
+	param_t param = param_handle(px4::params::MPC_COL_PREV_D);
+
+
+	// WHEN: we set the parameter check then apply the setpoint modification
+	float value = 10; // try to keep 10m away from obstacles
+	param_set(param, &value);
+
+	matrix::Vector2f modified_setpoint = original_setpoint;
+	cp.modifySetpoint(modified_setpoint, max_speed, curr_pos, curr_vel);
+
+	// THEN: it shouldn't interfere with the setpoint, because there isn't an obstacle
+	EXPECT_EQ(original_setpoint, modified_setpoint);
+}
+
+TEST_F(CollisionPreventionTest, testBehaviorOnWithAnObstacle)
+{
+	// GIVEN: a simple setup condition
+	CollisionPrevention cp(nullptr);
+	matrix::Vector2f original_setpoint(10, 0);
+	float max_speed = 3;
+	matrix::Vector2f curr_pos(0, 0);
+	matrix::Vector2f curr_vel(2, 0);
+
+	// AND: a parameter handle
+	param_t param = param_handle(px4::params::MPC_COL_PREV_D);
+	float value = 10; // try to keep 10m distance
+	param_set(param, &value);
+
+	// AND: an obstacle message
+	obstacle_distance_s message;
+	memset(&message, 0xDEAD, sizeof(message));
+	message.min_distance = 100;
+	message.max_distance = 1000;
+	message.timestamp = hrt_absolute_time();
+	int distances_array_size = sizeof(message.distances) / sizeof(message.distances[0]);
+	message.increment = 360 / distances_array_size;
+
+	for (int i = 0; i < distances_array_size; i++) {
+		message.distances[i] = 101;
+	}
+
+	orb_advert_t obstacle_distance_pub = orb_advertise(ORB_ID(obstacle_distance), &message);
+
+
+	// WHEN: we publish the message and set the parameter and then run the setpoint modification
+	matrix::Vector2f modified_setpoint = original_setpoint;
+	cp.modifySetpoint(modified_setpoint, max_speed, curr_pos, curr_vel);
+	orb_unadvertise(obstacle_distance_pub);
+
+	// THEN: it should be cut down a lot
+	EXPECT_GT(original_setpoint.norm() * 0.5f, modified_setpoint.norm()); //FIXME: this should actually be constrained to 0
+}

src/lib/cdev/CDev.cpp

@@ -395,4 +395,27 @@ CDev::remove_poll_waiter(px4_pollfd_struct_t *fds)
 	return -EINVAL;
 }
 
+int CDev::unregister_driver_and_memory()
+{
+	int retval = PX4_OK;
+
+	if (_registered) {
+		unregister_driver(_devname);
+		_registered = false;
+
+	} else {
+		retval = -ENODEV;
+	}
+
+	if (_devname != nullptr) {
+		free((void *)_devname);
+		_devname = nullptr;
+
+	} else {
+		retval = -ENODEV;
+	}
+
+	return retval;
+}
+
 } // namespace cdev

src/lib/cdev/CDev.hpp

@@ -264,6 +264,17 @@ protected:
 
 	px4_sem_t	_lock; /**< lock to protect access to all class members (also for derived classes) */
 
+
+	/**
+	* First, unregisters the driver. Next, free the memory for the devname,
+	* in case it was expected to have ownership. Sets devname to nullptr.
+	*
+	* This is only needed if the ownership of the devname was passed to the CDev, otherwise ~CDev handles it.
+	*
+	* @return  PX4_OK on success, -ENODEV if the devname is already nullptr
+	*/
+	int unregister_driver_and_memory();
+
 private:
 	const char	*_devname{nullptr};		/**< device node name */
 

src/lib/hysteresis/CMakeLists.txt

@@ -33,4 +33,4 @@
 
 px4_add_library(hysteresis hysteresis.cpp)
 
-px4_add_gtest(SRC HysteresisTest.cpp LINKLIBS hysteresis)
+px4_add_unit_gtest(SRC HysteresisTest.cpp LINKLIBS hysteresis)

src/lib/parameters/CMakeLists.txt

@@ -162,3 +162,5 @@ add_dependencies(parameters prebuild_targets)
 if(${PX4_PLATFORM} STREQUAL "nuttx")
 	target_link_libraries(parameters PRIVATE flashparams tinybson)
 endif()
+
+px4_add_functional_gtest(SRC ParameterTest.cpp LINKLIBS parameters)

src/lib/parameters/ParameterTest.cpp

@@ -0,0 +1,114 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2019 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <px4_module_params.h>
+#include <uORB/Subscription.hpp>
+#include <uORB/topics/obstacle_distance.h>
+#include <uORB/uORBManager.hpp>
+
+#include <gtest/gtest.h>
+
+class ParameterTest : public ::testing::Test
+{
+public:
+	void SetUp() override
+	{
+		uORB::Manager::initialize();
+		param_init();
+	}
+
+	void TearDown() override
+	{
+		param_reset_all();
+		uORB::Manager::terminate();
+	}
+};
+
+
+TEST_F(ParameterTest, testParamReadWrite)
+{
+	// GIVEN a parameter handle
+	param_t param = param_handle(px4::params::MPC_COL_PREV_D);
+
+	// WHEN: we get the parameter
+	float value = -999.f;
+	int status = param_get(param, &value);
+
+	// THEN it should be successful and have the default value
+	EXPECT_EQ(0, status);
+	EXPECT_EQ(-1, value);
+
+	// WHEN: we set the parameter
+	value = 42.f;
+	status = param_set(param, &value);
+
+	// THEN: it should be successful
+	EXPECT_EQ(0, status);
+
+	// WHEN: we get the parameter again
+	float value2 = -1999.f;
+	status = param_get(param, &value2);
+
+	// THEN: it should be exactly the value we set
+	EXPECT_EQ(0, status);
+	EXPECT_EQ(42.f, value2);
+}
+
+
+TEST_F(ParameterTest, testUorbSendReceive)
+{
+	// GIVEN: a uOrb message
+	obstacle_distance_s message;
+	memset(&message, 0xDEAD, sizeof(message));
+	message.min_distance = 1.f;
+	message.max_distance = 10.f;
+
+	// AND: a subscriber
+	uORB::SubscriptionData<obstacle_distance_s> sub_obstacle_distance{ORB_ID(obstacle_distance)};
+
+	// WHEN we send the message
+	orb_advert_t obstacle_distance_pub = orb_advertise(ORB_ID(obstacle_distance), &message);
+	ASSERT_TRUE(obstacle_distance_pub != nullptr);
+
+	// THEN: the subscriber should receive the message
+	sub_obstacle_distance.update();
+	const obstacle_distance_s &obstacle_distance = sub_obstacle_distance.get();
+
+	// AND: the values we got should be the same
+	EXPECT_EQ(message.timestamp, obstacle_distance.timestamp);
+	EXPECT_EQ(message.min_distance, obstacle_distance.min_distance);
+	EXPECT_EQ(message.max_distance, obstacle_distance.max_distance);
+
+	// AND: all the bytes should be equal
+	EXPECT_EQ(0, memcmp(&message, &obstacle_distance, sizeof(message)));
+}