mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-21 10:33:34 +08:00
Daniel AgarandBeat Küng
089c962d92
Using mixers on the IO side had a remote benefit of being able to override all control surfaces with a radio remote on a fixed wing. This ended up not being used that much and since the original design 10 years ago (2011) we have been able to convince ourselves that the overall system stability is at a level where this marginal benefit, which is not present on multicopters, is not worth the hazzle. Co-authored-by: Beat Küng <beat-kueng@gmx.net> Co-authored-by: Daniel Agar <daniel@agar.ca>
168 lines
4.7 KiB
CMake
168 lines
4.7 KiB
CMake
#=============================================================================
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# tests
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#
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# tests command arguments
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set(tests
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atomic_bitset
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bezier
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bitset
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bson
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dataman
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file2
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float
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hrt
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int
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IntrusiveQueue
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IntrusiveSortedList
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List
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mathlib
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matrix
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mixer
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param
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parameters
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perf
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search_min
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sleep
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versioning
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)
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foreach(test_name ${tests})
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set(test_name_prefix sitl-${test_name})
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configure_file(${PX4_SOURCE_DIR}/posix-configs/SITL/init/test/test_template.in ${PX4_SOURCE_DIR}/posix-configs/SITL/init/test/test_${test_name}_generated)
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add_test(NAME ${test_name_prefix}
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COMMAND $<TARGET_FILE:px4>
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-s ${PX4_SOURCE_DIR}/posix-configs/SITL/init/test/test_${test_name}_generated
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-t ${PX4_SOURCE_DIR}/test_data
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${PX4_SOURCE_DIR}/ROMFS/px4fmu_test
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WORKING_DIRECTORY ${SITL_WORKING_DIR}
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)
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set_tests_properties(${test_name_prefix} PROPERTIES FAIL_REGULAR_EXPRESSION "${test_name} FAILED")
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set_tests_properties(${test_name_prefix} PROPERTIES PASS_REGULAR_EXPRESSION "${test_name} PASSED")
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sanitizer_fail_test_on_error(${test_name_prefix})
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endforeach()
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# standalone tests
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set(cmd_tests
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commander_tests
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controllib_test
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lightware_laser_test
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rc_tests
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uorb_tests
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)
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foreach(test_name ${cmd_tests})
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set(test_name_prefix sitl-${test_name})
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configure_file(${PX4_SOURCE_DIR}/posix-configs/SITL/init/test/test_cmd_template.in ${PX4_SOURCE_DIR}/posix-configs/SITL/init/test/test_${test_name}_generated)
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add_test(NAME ${test_name_prefix}
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COMMAND $<TARGET_FILE:px4>
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-s ${PX4_SOURCE_DIR}/posix-configs/SITL/init/test/test_${test_name}_generated
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-t ${PX4_SOURCE_DIR}/test_data
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${PX4_SOURCE_DIR}/ROMFS/px4fmu_test
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WORKING_DIRECTORY ${SITL_WORKING_DIR}
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)
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set_tests_properties(${test_name_prefix} PROPERTIES FAIL_REGULAR_EXPRESSION "FAIL")
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set_tests_properties(${test_name_prefix} PROPERTIES PASS_REGULAR_EXPRESSION "PASS")
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sanitizer_fail_test_on_error(${test_name_prefix})
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endforeach()
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# Mavlink test requires mavlink running
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add_test(NAME sitl-mavlink
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COMMAND $<TARGET_FILE:px4>
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-s ${PX4_SOURCE_DIR}/posix-configs/SITL/init/test/test_mavlink
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-t ${PX4_SOURCE_DIR}/test_data
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${PX4_SOURCE_DIR}/ROMFS/px4fmu_test
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WORKING_DIRECTORY ${SITL_WORKING_DIR}
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)
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set_tests_properties(sitl-mavlink PROPERTIES FAIL_REGULAR_EXPRESSION "FAIL")
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set_tests_properties(sitl-mavlink PROPERTIES PASS_REGULAR_EXPRESSION "ALL TESTS PASSED")
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sanitizer_fail_test_on_error(sitl-mavlink)
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# IMU filtering
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add_test(NAME sitl-imu_filtering
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COMMAND $<TARGET_FILE:px4>
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-s ${PX4_SOURCE_DIR}/posix-configs/SITL/init/test/test_imu_filtering
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-t ${PX4_SOURCE_DIR}/test_data
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${PX4_SOURCE_DIR}/ROMFS/px4fmu_test
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WORKING_DIRECTORY ${SITL_WORKING_DIR}
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)
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set_tests_properties(sitl-imu_filtering PROPERTIES FAIL_REGULAR_EXPRESSION "FAIL")
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set_tests_properties(sitl-imu_filtering PROPERTIES PASS_REGULAR_EXPRESSION "ALL TESTS PASSED")
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sanitizer_fail_test_on_error(sitl-imu_filtering)
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# # Shutdown test
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# add_test(NAME sitl-shutdown
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# COMMAND $<TARGET_FILE:px4>
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# -s ${PX4_SOURCE_DIR}/posix-configs/SITL/init/test/test_shutdown
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# -t ${PX4_SOURCE_DIR}/test_data
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# ${PX4_SOURCE_DIR}/ROMFS/px4fmu_test
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# WORKING_DIRECTORY ${SITL_WORKING_DIR}
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# )
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# #set_tests_properties(shutdown PROPERTIES FAIL_REGULAR_EXPRESSION "shutdown FAILED")
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# set_tests_properties(sitl-shutdown PROPERTIES PASS_REGULAR_EXPRESSION "Exiting NOW.")
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# sanitizer_fail_test_on_error(sitl-shutdown)
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# Dynamic module loading test
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add_test(NAME dyn
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COMMAND ${PX4_SOURCE_DIR}/Tools/sitl_run.sh
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$<TARGET_FILE:px4>
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none
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none
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test_dyn_hello
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none
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${PX4_SOURCE_DIR}
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${PX4_BINARY_DIR}
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$<TARGET_FILE:examples__dyn_hello>
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WORKING_DIRECTORY ${SITL_WORKING_DIR})
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set_tests_properties(dyn PROPERTIES PASS_REGULAR_EXPRESSION "1: PASSED")
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sanitizer_fail_test_on_error(dyn)
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# run arbitrary commands
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set(test_cmds
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hrt_test
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cdev_test
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wqueue_test
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)
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foreach(cmd_name ${test_cmds})
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configure_file(${PX4_SOURCE_DIR}/posix-configs/SITL/init/test/cmd_template.in ${PX4_SOURCE_DIR}/posix-configs/SITL/init/test/cmd_${cmd_name}_generated)
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add_test(NAME posix_${cmd_name}
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COMMAND $<TARGET_FILE:px4>
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${PX4_SOURCE_DIR}/ROMFS/px4fmu_test
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-s ${PX4_SOURCE_DIR}/posix-configs/SITL/init/test/cmd_${cmd_name}_generated
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-t ${PX4_SOURCE_DIR}/test_data
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WORKING_DIRECTORY ${SITL_WORKING_DIR}
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)
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sanitizer_fail_test_on_error(posix_${cmd_name})
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set_tests_properties(posix_${cmd_name} PROPERTIES PASS_REGULAR_EXPRESSION "Exiting NOW.")
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endforeach()
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if(CMAKE_BUILD_TYPE STREQUAL Coverage)
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setup_target_for_coverage(test_coverage "${CMAKE_CTEST_COMMAND} --output-on-failure -T Test" tests)
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setup_target_for_coverage(generate_coverage "${CMAKE_COMMAND} -E echo" generic)
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# TODO:
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#setup_target_for_coverage(mavsdk_coverage "${PX4_SOURCE_DIR}/test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --iterations 1 --fail-early" mavsdk)
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endif()
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