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

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* 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
This commit is contained in:
Julian Kent
2019-08-09 15:10:09 +02:00
committed by GitHub
parent 4eb9c7d812
commit d70b024ec7
28 changed files with 535 additions and 16 deletions
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src/lib/CollisionPrevention/CollisionPrevention.cpp
+13 -1
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@@ -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