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WIP posix_sitl_test

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This commit is contained in:
Daniel Agar
2016-04-23 02:20:11 -04:00
committed by Lorenz Meier
parent 2bc74fd5d9
commit 39d388051a
7 changed files with 221 additions and 39 deletions
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Makefile
+4 -1
View File
@@ -155,6 +155,9 @@ mindpx-v2_default:
posix_sitl_default:
$(call cmake-build,$@)
posix_sitl_test:
$(call cmake-build,$@)
posix_sitl_lpe:
$(call cmake-build,$@)
@@ -225,7 +228,7 @@ ifeq ($(VECTORCONTROL),1)
@(rm -rf vectorcontrol && git clone --quiet --depth 1 https://github.com/thiemar/vectorcontrol.git && cd vectorcontrol && BOARD=s2740vc_1_0 make --silent --no-print-directory && BOARD=px4esc_1_6 make --silent --no-print-directory && ../Tools/uavcan_copy.sh)
endif
check: check_px4fmu-v1_default check_px4fmu-v2_default check_px4fmu-v2_test check_px4fmu-v2_ekf2 check_px4fmu-v2_lpe check_px4fmu-v4_default_and_uavcan check_mindpx-v2_default check_px4-stm32f4discovery_default check_posix_sitl_default check_unittest check_format
check: check_px4fmu-v1_default check_px4fmu-v2_default check_px4fmu-v2_test check_px4fmu-v2_ekf2 check_px4fmu-v2_lpe check_px4fmu-v4_default_and_uavcan check_mindpx-v2_default check_px4-stm32f4discovery_default check_posix_sitl_default check_posix_sitl_test check_unittest check_format
check_format:
$(call colorecho,"Checking formatting with astyle")
cmake/configs/posix_sitl_default.cmake
+41 -35
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@@ -3,68 +3,74 @@ include(posix/px4_impl_posix)
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)
set(config_module_list
drivers/device
drivers/boards/sitl
drivers/pwm_out_sim
platforms/common
platforms/posix/px4_layer
platforms/posix/work_queue
platforms/posix/drivers/adcsim
platforms/posix/drivers/gpssim
drivers/device
drivers/gps
platforms/posix/drivers/tonealrmsim
drivers/pwm_out_sim
platforms/common
platforms/posix/drivers/accelsim
platforms/posix/drivers/adcsim
platforms/posix/drivers/airspeedsim
platforms/posix/drivers/barosim
platforms/posix/drivers/gpssim
platforms/posix/drivers/gyrosim
platforms/posix/drivers/rgbledsim
platforms/posix/drivers/ledsim
systemcmds/param
systemcmds/mixer
systemcmds/ver
platforms/posix/drivers/rgbledsim
platforms/posix/drivers/tonealrmsim
platforms/posix/px4_layer
platforms/posix/work_queue
systemcmds/esc_calib
systemcmds/mixer
systemcmds/param
systemcmds/perf
systemcmds/reboot
systemcmds/sd_bench
systemcmds/topic_listener
systemcmds/perf
modules/uORB
modules/param
modules/systemlib
modules/systemlib/mixer
modules/sensors
modules/simulator
modules/mavlink
systemcmds/ver
modules/attitude_estimator_ekf
modules/attitude_estimator_q
modules/commander
modules/dataman
modules/ekf2
modules/ekf_att_pos_estimator
modules/position_estimator_inav
modules/navigator
modules/vtol_att_control
modules/mc_pos_control
modules/mc_att_control
modules/mc_pos_control_multiplatform
modules/mc_att_control_multiplatform
modules/land_detector
modules/fw_att_control
modules/fw_pos_control_l1
modules/dataman
modules/sdlog2
modules/commander
modules/land_detector
modules/load_mon
modules/mavlink
modules/mc_att_control
modules/mc_att_control_multiplatform
modules/mc_pos_control
modules/mc_pos_control_multiplatform
modules/navigator
modules/param
modules/position_estimator_inav
modules/sdlog2
modules/sensors
modules/simulator
modules/systemlib
modules/systemlib/mixer
modules/uORB
modules/vtol_att_control
lib/controllib
lib/mathlib
lib/mathlib/math/filter
lib/conversion
lib/DriverFramework/framework
lib/ecl
lib/external_lgpl
lib/geo
lib/geo_lookup
lib/launchdetection
lib/terrain_estimation
lib/mathlib
lib/mathlib/math/filter
lib/runway_takeoff
lib/tailsitter_recovery
lib/DriverFramework/framework
lib/terrain_estimation
examples/px4_simple_app
)
cmake/configs/posix_sitl_test.cmake
+105
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@@ -0,0 +1,105 @@
include(posix/px4_impl_posix)
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)
set(config_module_list
drivers/boards/sitl
drivers/device
drivers/gps
drivers/pwm_out_sim
platforms/common
platforms/posix/drivers/accelsim
platforms/posix/drivers/adcsim
platforms/posix/drivers/airspeedsim
platforms/posix/drivers/barosim
platforms/posix/drivers/gpssim
platforms/posix/drivers/gyrosim
platforms/posix/drivers/ledsim
platforms/posix/drivers/rgbledsim
platforms/posix/drivers/tonealrmsim
platforms/posix/px4_layer
platforms/posix/work_queue
systemcmds/esc_calib
systemcmds/mixer
systemcmds/param
systemcmds/perf
systemcmds/reboot
systemcmds/topic_listener
systemcmds/ver
modules/attitude_estimator_ekf
modules/attitude_estimator_q
modules/commander
modules/dataman
modules/ekf2
modules/ekf_att_pos_estimator
modules/fw_att_control
modules/fw_pos_control_l1
modules/land_detector
modules/mavlink
modules/mc_att_control
modules/mc_att_control_multiplatform
modules/mc_pos_control
modules/mc_pos_control_multiplatform
modules/navigator
modules/param
modules/position_estimator_inav
modules/sdlog2
modules/sensors
modules/simulator
modules/systemlib
modules/systemlib/mixer
modules/uORB
modules/vtol_att_control
lib/controllib
lib/conversion
lib/ecl
lib/external_lgpl
lib/geo
lib/geo_lookup
lib/launchdetection
lib/mathlib
lib/mathlib/math/filter
lib/runway_takeoff
lib/tailsitter_recovery
lib/terrain_estimation
examples/px4_simple_app
#
# Testing
#
modules/commander/commander_tests
modules/controllib_test
#modules/mavlink/mavlink_tests
modules/unit_test
systemcmds/tests
)
set(config_extra_builtin_cmds
serdis
sercon
)
set(config_sitl_rcS
posix-configs/SITL/init/rcS
CACHE FILEPATH "init script for sitl"
)
set(config_sitl_viewer
jmavsim
CACHE STRING "viewer for sitl"
)
set_property(CACHE config_sitl_viewer
PROPERTY STRINGS "jmavsim;none")
set(config_sitl_debugger
disable
CACHE STRING "debugger for sitl"
)
set_property(CACHE config_sitl_debugger
PROPERTY STRINGS "disable;gdb;lldb")
posix-configs/SITL/init/rcS_test_jmavsim_iris
+61
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@@ -0,0 +1,61 @@
uorb start
simulator start -s
param load
param set MAV_TYPE 2
param set MC_PITCHRATE_P 0.15
param set MC_PITCH_P 7
param set MC_ROLL_P 7
param set MC_ROLLRATE_P 0.15
param set MC_YAW_P 2.8
param set MC_YAWRATE_P 0.35
param set SYS_AUTOSTART 4010
param set SYS_RESTART_TYPE 2
dataman start
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 MPC_XY_P 0.4
param set MPC_XY_VEL_P 0.2
param set MPC_XY_VEL_D 0.005
param set SENS_BOARD_ROT 0
param set SENS_BOARD_X_OFF 0.000001
param set COM_RC_IN_MODE 1
param set COM_DL_LOSS_EN 1
param set COM_DISARM_LAND 3
param set NAV_ACC_RAD 2.0
param set RTL_RETURN_ALT 30.0
param set RTL_DESCEND_ALT 10.0
param set RTL_LAND_DELAY 0
param set MIS_TAKEOFF_ALT 2.5
param set MPC_HOLD_MAX_Z 2.0
param set MPC_HOLD_XY_DZ 0.1
param set MPC_HOLD_Z_DZ 0.1
param set MPC_Z_VEL_MAX 2.0
param set MPC_Z_VEL_P 0.4
rgbledsim start
tone_alarm start
gyrosim start
accelsim start
barosim start
adcsim start
gpssim start
pwm_out_sim mode_pwm
sleep 1
sensors start
commander_tests
controllib_test
uorb test
tests all
ver all
src/modules/mavlink/mavlink_tests/mavlink_ftp_test.cpp
+2 -2
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@@ -638,7 +638,7 @@ bool MavlinkFtpTest::_removedirectory_test(void)
};
ut_compare("mkdir failed", ::mkdir(_unittest_microsd_dir, S_IRWXU | S_IRWXG | S_IRWXO), 0);
ut_assert("open failed", (fd = ::open(_unittest_microsd_file, O_CREAT | O_EXCL)) != -1);
ut_assert("open failed", (fd = ::open(_unittest_microsd_file, O_CREAT | O_EXCL, S_IRWXU | S_IRWXG | S_IRWXO)) != -1);
::close(fd);
for (size_t i = 0; i < sizeof(rgTestCases) / sizeof(rgTestCases[0]); i++) {
@@ -738,7 +738,7 @@ bool MavlinkFtpTest::_removefile_test(void)
};
ut_compare("mkdir failed", ::mkdir(_unittest_microsd_dir, S_IRWXU | S_IRWXG | S_IRWXO), 0);
ut_assert("open failed", (fd = ::open(_unittest_microsd_file, O_CREAT | O_EXCL)) != -1);
ut_assert("open failed", (fd = ::open(_unittest_microsd_file, O_CREAT | O_EXCL, S_IRWXU | S_IRWXG | S_IRWXO)) != -1);
::close(fd);
for (size_t i = 0; i < sizeof(rgTestCases) / sizeof(rgTestCases[0]); i++) {
src/modules/unit_test/unit_test.cpp
+7 -1
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@@ -50,7 +50,13 @@ UnitTest::~UnitTest()
void UnitTest::print_results(void)
{
warnx(_tests_failed ? "SOME TESTS FAILED" : "ALL TESTS PASSED");
if (_tests_failed) {
warnx("SOME TESTS FAILED");
} else {
warnx("ALL TESTS PASSED");
}
warnx(" Tests passed : %d", _tests_passed);
warnx(" Tests failed : %d", _tests_failed);
warnx(" Assertions : %d", _assertions);
src/systemcmds/tests/test_uart_console.c
+1
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@@ -38,6 +38,7 @@
****************************************************************************/
#include <px4_config.h>
#include <px4_tasks.h>
#include <sys/types.h>