mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-11-10 05:01:36 +08:00
Daniel Agar
4040e4cdf2
- new modules/simulation directory to collect all simulators and related modules - new Tools/simulation directory to collect and organize scattered simulation submodules, scripts, etc - simulation module renamed to simulator_mavlink - sih renamed to simulator_sih (not a great name, but I wanted to be clear it was a simulator) - ignition_simulator renamed to simulator_ignition_bridge - large sitl_target.cmake split by simulation option and in some cases pushed to appropriate modules - sitl targets broken down to what's actually available (eg jmavsim only has 1 model and 1 world) - new Gazebo consistently referred to as Ignition for now (probably the least confusing thing until we fully drop Gazebo classic support someday)
161 lines
4.7 KiB
CMake
161 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 $<TARGET_FILE:px4> -s "${PX4_SOURCE_DIR}/posix-configs/SITL/init/test/test_dyn_hello"
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WORKING_DIRECTORY ${PX4_BINARY_DIR}/src/examples/dyn_hello
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)
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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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