mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-03 13:48:54 +08:00
188 lines
8.3 KiB
Markdown
188 lines
8.3 KiB
Markdown
# 单元测试
|
|
|
|
我们鼓励开发人员在开发的每个模块时编写单元测试，包括添加新功能，修复错误和重构。
|
|
|
|
或者，也可以直接从 bash 运行完整的单元测试：
|
|
|
|
1. Unit tests with [Google Test](https://github.com/google/googletest/blob/main/docs/primer.md) ("GTest") - tests that have minimal, internal-only dependencies
|
|
2. 使用GTest的功能性测试 - 依赖parameters和 uORB消息的测试
|
|
3. 软件在环(SITL)单元测试。 这些测试需要运行在完整的SITL环境中， 运行起来更慢，更难调试，所以建议尽可能使用GTest代替。
|
|
|
|
## 编写测试
|
|
|
|
**Tip**: In general, if you need access to advanced GTest utilities, data structures from the STL or need to link to `parameters` or `uorb` libraries you should use the functional tests instead.
|
|
|
|
创建新的单元测试步骤如下：
|
|
|
|
1. 单元测试分成三个部分：设置、运行、检查结果。 每个单元测试都应该测试一个特定行为或设置案例，如果测试失败，则很明显你的测试代码有错误。 请尽可能遵循这些标准。
|
|
2. Copy and rename the example unit test [AttitudeControlTest](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/mc_att_control/AttitudeControl/AttitudeControlTest.cpp) to the directory the code to be tested is in.
|
|
3. Add the new file to the directory's `CMakeLists.txt`. It should look something like `px4_add_unit_gtest(SRC MyNewUnitTest.cpp LINKLIBS <library_to_be_tested>)`
|
|
4. 添加你想要的测试功能。 这包括了添加所需的头文件、新测试(每个测试都应该有单独的名称)，并加入相关逻辑，运行测试代码并验证其行为是否符合预期。
|
|
5. If additional library dependencies are required, they should also be added to the CMakeLists after the `LINKLIBS` as shown above.
|
|
|
|
Tests can be run via `make tests`, after which you will find the binary in `build/px4_sitl_test/unit-MyNewUnit`.
|
|
也可以直接通过调试器中运行。
|
|
|
|
## Writing a GTest Functional Test {#functional-test}
|
|
|
|
当测试或测试的组件依赖参数、uORB 消息、或更高级的GTest功能的时候，应当使用GTest功能测试。
|
|
Additionally, functional tests can contain local usage of STL data structures (although be careful of platform differences between e.g. macOS and Linux).
|
|
|
|
创建一个新的功能测试步骤如下：
|
|
|
|
1. 一般来说（与单元测试类似）功能测试应分为三个部分：设置，运行，检查结果。
|
|
每个单元测试都应该测试一个特定行为或设置案例，如果测试失败，则很明显你的测试代码有错误。
|
|
请尽可能遵循这些标准。
|
|
2. Copy and rename the example functional test [ParameterTest](https://github.com/PX4/PX4-Autopilot/blob/main/src/lib/parameters/ParameterTest.cpp) to the directory the code to be tested is in.
|
|
3. 将ParameterTest 重命名为更符合你正在测试的代码功能。
|
|
4. Add the new file to the directory's `CMakeLists.txt`.
|
|
It should look something like `px4_add_functional_gtest(SRC MyNewFunctionalTest.cpp LINKLIBS <library_to_be_tested>)`
|
|
5. 添加你想要的测试功能。
|
|
这包括了，添加特定的头文件、新测试（每个测试都应该使用不同的命名），并设置相关逻辑，运行测试代码并验证是否符合预期。
|
|
6. If additional library dependencies are required, they should also be added to the CMakeLists after the `LINKLIBS` as shown above.
|
|
|
|
Tests can be run via `make tests`, after which you will find the binary in `build/px4_sitl_test/functional-MyNewFunctional`.
|
|
It can be run directly in a debugger, however be careful to only run one test per executable invocation using the [--gtest_filter=\<regex\>](https://github.com/google/googletest/blob/main/docs/advanced.md#running-a-subset-of-the-tests) arguments, as some parts of the uORB and parameter libraries don't clean themselves up perfectly and may result in undefined behavior if set up multiple times.
|
|
|
|
## 写一个软件在环（SITL）单元测试
|
|
|
|
当需要所有的飞行控制组件：驱动、时间或者更多时，应该SITL单元测试。
|
|
这些测试运行较慢(每个模块至少1秒+)，同时难以测试，所以仅在必要时使用它们。
|
|
|
|
创建一个新的SITL单元测试步骤如下：
|
|
|
|
1. Examine the sample [Unittest-class](https://github.com/PX4/PX4-Autopilot/blob/main/src/include/unit_test.h).
|
|
|
|
2. Create a new .cpp file within [tests](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/tests) with name **test\_[description].cpp**.
|
|
|
|
3. Within **test\_[description].cpp** include the base unittest-class `<unit_test.h>` and all files required to write a test for the new feature.
|
|
|
|
4. Within **test\_[description].cpp** create a class `[Description]Test` that inherits from `UnitTest`.
|
|
|
|
5. Within `[Description]Test` class declare the public method `virtual bool run_tests()`.
|
|
|
|
6. Within `[Description]Test` class declare all private methods required to test the feature in question (`test1()`, `test2()`,...).
|
|
|
|
7. Within **test\_[description].cpp** implement the `run_tests()` method where each test[1,2,...] will be run.
|
|
|
|
8. Within **test\_[description].cpp**, implement the various tests.
|
|
|
|
9. At the bottom within **test\_[description].cpp** declare the test.
|
|
|
|
```cpp
|
|
ut_declare_test_c(test_[description], [Description]Test)
|
|
```
|
|
|
|
下面是一个模板：
|
|
|
|
```cpp
|
|
#include <unit_test.h>
|
|
#include "[new feature].h"
|
|
...
|
|
|
|
class [Description]Test : public UnitTest
|
|
{
|
|
public:
|
|
virtual bool run_tests();
|
|
|
|
private:
|
|
bool test1();
|
|
bool test2();
|
|
...
|
|
};
|
|
|
|
bool [Description]Test::run_tests()
|
|
{
|
|
ut_run_test(test1)
|
|
ut_run_test(test2)
|
|
...
|
|
|
|
return (_tests_failed == 0);
|
|
}
|
|
|
|
bool [Description]Test::test1()
|
|
{
|
|
ut_[name of one of the unit test functions](...
|
|
ut_[name of one of the unit test functions](...
|
|
...
|
|
|
|
return true;
|
|
}
|
|
|
|
bool [Description]Test::test2()
|
|
{
|
|
ut_[name of one of the unit test functions](...
|
|
ut_[name of one of the unit test functions](...
|
|
...
|
|
|
|
return true;
|
|
}
|
|
...
|
|
|
|
ut_declare_test_c(test_[description], [Description]Test)
|
|
```
|
|
|
|
Note that `ut_[name of one of the unit test functions]` corresponds to one of the unittest functions defined within [unit_test.h](https://github.com/PX4/PX4-Autopilot/blob/main/src/include/unit_test.h).
|
|
|
|
10. Within [tests_main.h](https://github.com/PX4/PX4-Autopilot/blob/main/src/systemcmds/tests/tests_main.h) define the new test:
|
|
|
|
```cpp
|
|
extern int test_[description](int argc, char *argv[]);
|
|
```
|
|
|
|
11. Within [tests_main.c](https://github.com/PX4/PX4-Autopilot/blob/main/src/systemcmds/tests/tests_main.c) add description name, test function and option:
|
|
|
|
```cpp
|
|
...
|
|
} tests[] = {
|
|
{...
|
|
{"[description]", test_[description], OPTION},
|
|
...
|
|
}
|
|
```
|
|
|
|
`OPTION` can be `OPT_NOALLTEST`,`OPT_NOJIGTEST` or `0` and is considered if within PX4 shell one of the two commands are called:
|
|
|
|
```sh
|
|
pxh> tests all
|
|
```
|
|
|
|
或
|
|
|
|
```sh
|
|
pxh> tests jig
|
|
```
|
|
|
|
If a test has option `OPT_NOALLTEST`, then that test will be excluded when calling `tests all`. The same is true for `OPT_NOJITEST` when command `test jig` is called. Option `0` means that the test is never excluded, which is what most developer want to use.
|
|
|
|
12. Add the test `test_[description].cpp` to the [CMakeLists.txt](https://github.com/PX4/PX4-Autopilot/blob/main/src/systemcmds/tests/CMakeLists.txt).
|
|
|
|
## 在本地计算机上进行测试
|
|
|
|
Run the complete list of GTest Unit Tests, GTest Functional Tests and SITL Unit Tests right from bash:
|
|
|
|
```sh
|
|
make tests
|
|
```
|
|
|
|
The individual GTest test binaries are in the `build/px4_sitl_test/` directory, and can be run directly in most IDEs' debugger.
|
|
|
|
使用以下命令对ctest名称使用正则表达式对要运行的测试子集进行筛选：
|
|
|
|
```sh
|
|
make tests TESTFILTER=<regex filter expression>
|
|
```
|
|
|
|
例如：
|
|
|
|
- `make tests TESTFILTER=unit` only run GTest unit tests
|
|
- `make tests TESTFILTER=sitl` only run simulation tests
|
|
- `make tests TESTFILTER=Attitude` only run the `AttitudeControl` test
|
|
|
|
## Fuzz Testing
|
|
|
|
Fuzz tests are a generalised form of unit test that ensures code is robust against any input.
|
|
They are run as part of the unit tests, and also more extensively in their own testing mode.
|
|
|
|
For more information see [Fuzz Tests](../test_and_ci/fuzz_tests.md).
|