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/modules/mc_att_control/AttitudeControl/CMakeLists.txt

@@ -39,4 +39,4 @@ target_include_directories(AttitudeControl
 	${CMAKE_CURRENT_SOURCE_DIR}
 )
 
-px4_add_gtest(SRC AttitudeControlTest.cpp LINKLIBS AttitudeControl)
+px4_add_unit_gtest(SRC AttitudeControlTest.cpp LINKLIBS AttitudeControl)

src/modules/mc_pos_control/Takeoff/CMakeLists.txt

@@ -39,4 +39,4 @@ target_include_directories(Takeoff
 	${CMAKE_CURRENT_SOURCE_DIR}
 )
 
-px4_add_gtest(SRC TakeoffTest.cpp LINKLIBS Takeoff)
+px4_add_unit_gtest(SRC TakeoffTest.cpp LINKLIBS Takeoff)

src/modules/uORB/uORBDeviceMaster.cpp

@@ -102,10 +102,10 @@ uORB::DeviceMaster::advertise(const struct orb_metadata *meta, int *instance, in
 			return -ENOMEM;
 		}
 
-		/* construct the new node */
+		/* construct the new node, passing the ownership of path to it */
 		uORB::DeviceNode *node = new uORB::DeviceNode(meta, group_tries, devpath, priority);
 
-		/* if we didn't get a device, that's bad */
+		/* if we didn't get a device, that's bad, free the path too */
 		if (node == nullptr) {
 			free((void *)devpath);
 			return -ENOMEM;
@@ -133,9 +133,6 @@ uORB::DeviceMaster::advertise(const struct orb_metadata *meta, int *instance, in
 				}
 			}
 
-			/* also discard the name now */
-			free((void *)devpath);
-
 		} else {
 			// add to the node map;.
 			_node_list.add(node);

src/modules/uORB/uORBDeviceNode.cpp

@@ -33,7 +33,6 @@
 
 #include "uORBDeviceNode.hpp"
 
-#include "uORBDeviceNode.hpp"
 #include "uORBUtils.hpp"
 #include "uORBManager.hpp"
 
@@ -70,6 +69,8 @@ uORB::DeviceNode::~DeviceNode()
 	if (_data != nullptr) {
 		delete[] _data;
 	}
+
+	CDev::unregister_driver_and_memory();
 }
 
 int

src/modules/uORB/uORBDeviceNode.hpp

@@ -56,7 +56,7 @@ class uORB::DeviceNode : public cdev::CDev, public ListNode<uORB::DeviceNode *>
 public:
 	DeviceNode(const struct orb_metadata *meta, const uint8_t instance, const char *path, uint8_t priority,
 		   uint8_t queue_size = 1);
-	~DeviceNode();
+	virtual ~DeviceNode();
 
 	// no copy, assignment, move, move assignment
 	DeviceNode(const DeviceNode &) = delete;

src/modules/uORB/uORBManager.cpp

@@ -55,6 +55,17 @@ bool uORB::Manager::initialize()
 	return _Instance != nullptr;
 }
 
+bool uORB::Manager::terminate()
+{
+	if (_Instance != nullptr) {
+		delete _Instance;
+		_Instance = nullptr;
+		return true;
+	}
+
+	return false;
+}
+
 uORB::Manager::Manager()
 {
 #ifdef ORB_USE_PUBLISHER_RULES

src/modules/uORB/uORBManager.hpp

@@ -75,6 +75,12 @@ public:
 	 */
 	static bool initialize();
 
+	/**
+	 * Terminate the singleton. Call this after everything else.
+	 * @return true on success
+	 */
+	static bool terminate();
+
 	/**
 	 * Method to get the singleton instance for the uORB::Manager.
 	 * Make sure initialize() is called first.
@@ -416,7 +422,7 @@ private: // data members
 
 private: //class methods
 	Manager();
-	~Manager();
+	virtual ~Manager();
 
 #ifdef ORB_COMMUNICATOR
 	/**