From dc9a71b674041751e6c37fd2472a1a3ecdfa8cb2 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Sun, 1 Jan 2017 21:53:49 -0500
Subject: [PATCH] WIP startup_shutdown test with ASAN on

---
 Makefile                                   |  12 +-
 cmake/common/px4_base.cmake                |   6 +
 cmake/configs/posix_sitl_test.cmake        |   5 +
 posix-configs/SITL/init/test/standard_vtol | 132 +++++++++++++++++++++
 4 files changed, 151 insertions(+), 4 deletions(-)
 create mode 100644 cmake/configs/posix_sitl_test.cmake
 create mode 100644 posix-configs/SITL/init/test/standard_vtol

diff --git a/Makefile b/Makefile
index f8c7002527..abe9c8f342 100755
--- a/Makefile
+++ b/Makefile
@@ -285,11 +285,15 @@ tests: run_tests_posix
 	@$(call PX4_RUN,$(MAKE) --no-print-directory unittest)
 
 tests_coverage:
-	@$(call PX4_RUN,$(MAKE) --no-print-directory tests PX4_CODE_COVERAGE=1 CCACHE_DISABLE=1)
-	@$(call PX4_RUN,lcov --directory . --capture --quiet --output-file coverage.info)
+	@$(call PX4_RUN,lcov --zerocounters --directory $(SRC_DIR) --quiet)
+	@$(call PX4_RUN,lcov --capture --initial --directory $(SRC_DIR) --quiet --output-file coverage.info)
+	@$(call PX4_RUN,$(MAKE) --no-print-directory tests PX4_CODE_COVERAGE=1 CCACHE_DISABLE=1 HEADLESS=1)
+	@$(call PX4_RUN,lcov --no-checksum --directory $(SRC_DIR) --capture --quiet --output-file coverage.info)
 	@$(call PX4_RUN,lcov --remove coverage.info '/usr/*' 'unittests/googletest/*' 'mavlink/*' --quiet --output-file coverage.info)
-	#@(lcov --list coverage.info)
-	@$(call PX4_RUN,genhtml coverage.info --quiet --output-directory coverage-html)
+	@$(call PX4_RUN,genhtml --legend --show-details --function-coverage --quiet --output-directory coverage-html coverage.info )
+
+test_startup_shutdown:
+	@$(call PX4_RUN,$(MAKE) --no-print-directory posix_sitl_test gazebo_standard_vtol HEADLESS=1 MEMORY_DEBUG=1)
 
 package_firmware:
 	@zip --junk-paths Firmware.zip `find Binaries/. -name \*.px4`
diff --git a/cmake/common/px4_base.cmake b/cmake/common/px4_base.cmake
index 0135fb9d86..3c6216ccd1 100644
--- a/cmake/common/px4_base.cmake
+++ b/cmake/common/px4_base.cmake
@@ -701,6 +701,7 @@ function(px4_add_common_flags)
 		)
 	endif()
 
+	# address sanitizer
 	if ($ENV{MEMORY_DEBUG} MATCHES "1")
 		message(STATUS "address sanitizer enabled")
 		if ("${OS}" STREQUAL "nuttx")
@@ -740,6 +741,11 @@ function(px4_add_common_flags)
 			)
 	endif()
 
+	# code coverage
+	if ($ENV{PX4_CODE_COVERAGE} MATCHES "1")
+		set(max_optimization -O0)
+	endif()
+
 	if (NOT ${CMAKE_C_COMPILER_ID} MATCHES ".*Clang.*")
 		list(APPEND _optimization_flags
 			-fno-strength-reduce
diff --git a/cmake/configs/posix_sitl_test.cmake b/cmake/configs/posix_sitl_test.cmake
new file mode 100644
index 0000000000..0e467f5de2
--- /dev/null
+++ b/cmake/configs/posix_sitl_test.cmake
@@ -0,0 +1,5 @@
+include(cmake/configs/posix_sitl_default.cmake)
+
+set(config_sitl_rcS_dir
+	posix-configs/SITL/init/test
+	)
diff --git a/posix-configs/SITL/init/test/standard_vtol b/posix-configs/SITL/init/test/standard_vtol
new file mode 100644
index 0000000000..58bf008119
--- /dev/null
+++ b/posix-configs/SITL/init/test/standard_vtol
@@ -0,0 +1,132 @@
+uorb start
+param load
+param set MAV_TYPE 22
+param set VT_TYPE 2
+param set VT_MOT_COUNT 4
+param set VT_TRANS_THR 0.75
+param set SYS_AUTOSTART 13006
+param set SYS_RESTART_TYPE 2
+param set SYS_MC_EST_GROUP 2
+dataman start
+param set BAT_N_CELLS 3
+param set CAL_GYRO0_ID 2293768
+param set CAL_ACC0_ID 1376264
+param set CAL_ACC1_ID 1310728
+param set CAL_MAG0_ID 196616
+param set CAL_GYRO0_XOFF 0.01
+param set CAL_ACC0_XOFF 0.01
+param set CAL_ACC0_YOFF -0.01
+param set CAL_ACC0_ZOFF 0.01
+param set CAL_ACC0_XSCALE 1.01
+param set CAL_ACC0_YSCALE 1.01
+param set CAL_ACC0_ZSCALE 1.01
+param set CAL_ACC1_XOFF 0.01
+param set CAL_MAG0_XOFF 0.01
+param set MC_ROLLRATE_P 0.3
+param set MC_PITCHRATE_P 0.2
+param set MC_PITCH_P 6
+param set MC_ROLL_P 6
+param set MPC_XY_P 0.8
+param set MPC_ACC_HOR_MAX 2.0
+param set MPC_XY_VEL_P 0.15
+param set MPC_XY_VEL_I 0.2
+param set MPC_XY_VEL_D 0.005
+param set MPC_XY_FF 0.1
+param set MPC_Z_VEL_MAX 1.5
+param set MPC_Z_VEL_P 0.6
+param set MPC_Z_VEL_I 0.15
+param set FW_AIRSPD_MIN 14
+param set FW_AIRSPD_TRIM 16
+param set FW_AIRSPD_MAX 25
+param set SENS_BOARD_ROT 0
+param set SENS_DPRES_OFF 0.001
+param set SENS_BOARD_X_OFF 0.000001
+param set COM_RC_IN_MODE 1
+param set NAV_DLL_ACT 2
+param set NAV_ACC_RAD 5.0
+param set NAV_LOITER_RAD 80
+param set MPC_TKO_SPEED 1.0
+param set MIS_LTRMIN_ALT 10
+param set MIS_TAKEOFF_ALT 10
+param set MIS_YAW_TMT 10
+param set RTL_RETURN_ALT 30.0
+param set RTL_DESCEND_ALT 10.0
+param set RTL_LAND_DELAY 0
+param set COM_DISARM_LAND 2
+param set MPC_ACC_HOR_MAX 2
+param set EKF2_GBIAS_INIT 0.01
+param set EKF2_ANGERR_INIT 0.01
+param set EKF2_MAG_TYPE 1
+simulator start -s
+rgbledsim start
+tone_alarm start
+gyrosim start
+accelsim start
+barosim start
+adcsim start
+gpssim start
+measairspeedsim start
+pwm_out_sim mode_pwm
+sleep 1
+sensors start
+commander start
+land_detector start multicopter
+navigator start
+ekf2 start
+vtol_att_control start
+mc_pos_control start
+mc_att_control start
+fw_pos_control_l1 start
+fw_att_control start
+mixer load /dev/pwm_output0 ROMFS/sitl/mixers/standard_vtol_sitl.main.mix
+mavlink start -u 14556 -r 2000000
+mavlink start -u 14557 -r 2000000 -m onboard -o 14540
+mavlink stream -r 20 -s EXTENDED_SYS_STATE -u 14540
+mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556
+mavlink stream -r 80 -s LOCAL_POSITION_NED -u 14556
+mavlink stream -r 80 -s GLOBAL_POSITION_INT -u 14556
+mavlink stream -r 80 -s ATTITUDE -u 14556
+mavlink stream -r 80 -s ATTITUDE_QUATERNION -u 14556
+mavlink stream -r 80 -s ATTITUDE_TARGET -u 14556
+mavlink stream -r 20 -s RC_CHANNELS -u 14556
+mavlink stream -r 250 -s HIGHRES_IMU -u 14556
+mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556
+logger start -e -t
+mavlink boot_complete
+ver all
+
+sleep 13
+commander takeoff
+sleep 2
+commander land
+sleep 5
+
+listener vehicle_status
+
+logger stop
+mavlink stop-all
+vtol_att_control stop
+mc_pos_control stop
+mc_att_control stop
+fw_pos_control_l1 stop
+fw_att_control stop
+
+commander stop
+navigator stop
+land_detector stop
+ekf2 stop
+sensors stop
+
+rgbledsim stop
+tone_alarm stop
+gyrosim stop
+accelsim stop
+barosim stop
+adcsim stop
+gpssim stop
+measairspeedsim stop
+
+dataman stop
+uorb stop
+
+shutdown