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systemcmds/tests: split out individual module test commands

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This commit is contained in:
Daniel Agar
2021-03-23 10:46:56 -04:00
parent 9b1cf98474
commit ea902e7f38
8 changed files with 66 additions and 75 deletions
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9
Tools/HIL/run_tests.py
View File

@@ -103,12 +103,6 @@ class TestHardwareMethods(unittest.TestCase):
def test_bson(self):
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "bson"))
def test_commander(self):
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "commander"))
def test_controllib(self):
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "controllib"))
# def test_dataman(self):
# self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "dataman"))
@@ -172,9 +166,6 @@ class TestHardwareMethods(unittest.TestCase):
def test_time(self):
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "time"))
def test_uorb(self):
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "uorb"))
def test_versioning(self):
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "versioning"))

1
boards/px4/sitl/test.cmake
View File

@@ -14,6 +14,7 @@ px4_add_board(
camera_trigger
#differential_pressure # all available differential pressure drivers
#distance_sensor # all available distance sensor drivers
distance_sensor/lightware_laser_serial
gps
#imu # all available imu drivers
#magnetometer # all available magnetometer drivers

86
platforms/posix/cmake/sitl_tests.cmake
View File

@@ -2,14 +2,12 @@
# tests
#
# TODO: find a way to keep this in sync with tests_main
# tests command arguments
set(tests
atomic_bitset
bezier
bitset
bson
commander
controllib
conv
dataman
file2
@@ -30,27 +28,11 @@ set(tests
param
parameters
perf
rc
search_min
servo
#lightware_laser
sleep
uorb
versioning
)
if (${CMAKE_SYSTEM_NAME} MATCHES "Darwin")
list(REMOVE_ITEM tests
mixer
uorb
)
endif()
if (CMAKE_SYSTEM_NAME STREQUAL "CYGWIN")
list(REMOVE_ITEM tests
uorb
)
endif()
)
foreach(test_name ${tests})
set(test_name_prefix sitl-${test_name})
@@ -71,6 +53,35 @@ foreach(test_name ${tests})
endforeach()
# standalone tests
set(cmd_tests
commander_tests
controllib_test
lightware_laser_test
rc_tests
uorb_tests
)
foreach(test_name ${cmd_tests})
set(test_name_prefix sitl-${test_name})
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)
add_test(NAME ${test_name_prefix}
COMMAND $<TARGET_FILE:px4>
-s ${PX4_SOURCE_DIR}/posix-configs/SITL/init/test/test_${test_name}_generated
-t ${PX4_SOURCE_DIR}/test_data
${PX4_SOURCE_DIR}/ROMFS/px4fmu_test
WORKING_DIRECTORY ${SITL_WORKING_DIR}
)
set_tests_properties(${test_name_prefix} PROPERTIES FAIL_REGULAR_EXPRESSION "FAIL")
set_tests_properties(${test_name_prefix} PROPERTIES PASS_REGULAR_EXPRESSION "PASS")
sanitizer_fail_test_on_error(${test_name_prefix})
endforeach()
# Mavlink test requires mavlink running
add_test(NAME sitl-mavlink
COMMAND $<TARGET_FILE:px4>
@@ -80,25 +91,26 @@ add_test(NAME sitl-mavlink
WORKING_DIRECTORY ${SITL_WORKING_DIR}
)
set_tests_properties(sitl-mavlink PROPERTIES FAIL_REGULAR_EXPRESSION "mavlink FAILED")
set_tests_properties(sitl-mavlink PROPERTIES PASS_REGULAR_EXPRESSION "mavlink PASSED")
set_tests_properties(sitl-mavlink PROPERTIES FAIL_REGULAR_EXPRESSION "FAIL")
set_tests_properties(sitl-mavlink PROPERTIES PASS_REGULAR_EXPRESSION "ALL TESTS PASSED")
sanitizer_fail_test_on_error(sitl-mavlink)
# A mystery why this fails on Cygwin currently.
if(NOT CMAKE_SYSTEM_NAME STREQUAL "CYGWIN")
# Shutdown test
add_test(NAME sitl-shutdown
COMMAND $<TARGET_FILE:px4>
-s ${PX4_SOURCE_DIR}/posix-configs/SITL/init/test/test_shutdown
-t ${PX4_SOURCE_DIR}/test_data
${PX4_SOURCE_DIR}/ROMFS/px4fmu_test
WORKING_DIRECTORY ${SITL_WORKING_DIR}
)
#set_tests_properties(shutdown PROPERTIES FAIL_REGULAR_EXPRESSION "shutdown FAILED")
set_tests_properties(sitl-shutdown PROPERTIES PASS_REGULAR_EXPRESSION "Exiting NOW.")
sanitizer_fail_test_on_error(sitl-shutdown)
endif()
# # Shutdown test
# add_test(NAME sitl-shutdown
# COMMAND $<TARGET_FILE:px4>
# -s ${PX4_SOURCE_DIR}/posix-configs/SITL/init/test/test_shutdown
# -t ${PX4_SOURCE_DIR}/test_data
# ${PX4_SOURCE_DIR}/ROMFS/px4fmu_test
# WORKING_DIRECTORY ${SITL_WORKING_DIR}
# )
# #set_tests_properties(shutdown PROPERTIES FAIL_REGULAR_EXPRESSION "shutdown FAILED")
# set_tests_properties(sitl-shutdown PROPERTIES PASS_REGULAR_EXPRESSION "Exiting NOW.")
# sanitizer_fail_test_on_error(sitl-shutdown)
# Dynamic module loading test
add_test(NAME dyn
@@ -115,6 +127,7 @@ add_test(NAME dyn
set_tests_properties(dyn PROPERTIES PASS_REGULAR_EXPRESSION "1: PASSED")
sanitizer_fail_test_on_error(dyn)
# run arbitrary commands
set(test_cmds
hrt_test
@@ -137,6 +150,7 @@ foreach(cmd_name ${test_cmds})
set_tests_properties(posix_${cmd_name} PROPERTIES PASS_REGULAR_EXPRESSION "Exiting NOW.")
endforeach()
if(CMAKE_BUILD_TYPE STREQUAL Coverage)
setup_target_for_coverage(test_coverage "${CMAKE_CTEST_COMMAND} --output-on-failure -T Test" tests)
setup_target_for_coverage(generate_coverage "${CMAKE_COMMAND} -E echo" generic)

14
posix-configs/SITL/init/test/test_cmd_template.in Normal file
View File

@@ -0,0 +1,14 @@
#!/bin/sh
# PX4 commands need the 'px4-' prefix in bash.
# (px4-alias.sh is expected to be in the PATH)
. px4-alias.sh
dataman start
simulator start
tone_alarm start
pwm_out_sim start
@test_name@
shutdown

4
posix-configs/SITL/init/test/test_mavlink
View File

@@ -19,8 +19,6 @@ ver all
mavlink start -x -u 14556 -r 2000000 -p
mavlink boot_complete
tests mavlink
dataman status
mavlink_tests
shutdown

8
posix-configs/SITL/init/test/test_template.in
View File

@@ -3,20 +3,12 @@
# (px4-alias.sh is expected to be in the PATH)
. px4-alias.sh
param load
param set CBRK_SUPPLY_CHK 894281
param set SYS_RESTART_TYPE 0
dataman start
simulator start
tone_alarm start
pwm_out_sim start
ver all
tests @test_name@
dataman status
shutdown

11
src/systemcmds/tests/tests_main.c
View File

@@ -75,8 +75,6 @@ const struct {
{"uart_baudchange", test_uart_baudchange, OPT_NOJIGTEST},
{"uart_break", test_uart_break, OPT_NOJIGTEST | OPT_NOALLTEST},
{"uart_console", test_uart_console, OPT_NOJIGTEST | OPT_NOALLTEST},
#else
{"rc", rc_tests_main, 0},
#endif /* __PX4_NUTTX */
{"adc", test_adc, OPT_NOJIGTEST},
@@ -119,15 +117,6 @@ const struct {
{"versioning", test_versioning, 0},
{"cli", test_cli, 0},
/* external tests */
{"commander", commander_tests_main, 0},
{"controllib", controllib_test_main, 0},
{"mavlink", mavlink_tests_main, 0},
#ifdef __PX4_NUTTX
{"lightware_laser", lightware_laser_test_main, 0},
#endif
{"uorb", uorb_tests_main, 0},
{NULL, NULL, 0}
};

8
src/systemcmds/tests/tests_main.h
View File

@@ -89,14 +89,6 @@ extern int test_uart_send(int argc, char *argv[]);
extern int test_versioning(int argc, char *argv[]);
extern int test_cli(int argc, char *argv[]);
/* external */
extern int commander_tests_main(int argc, char *argv[]);
extern int mavlink_tests_main(int argc, char *argv[]);
extern int controllib_test_main(int argc, char *argv[]);
extern int uorb_tests_main(int argc, char *argv[]);
extern int rc_tests_main(int argc, char *argv[]);
extern int lightware_laser_test_main(int argc, char *argv[]);
__END_DECLS
#endif /* __APPS_PX4_TESTS_H */