diff --git a/Makefile b/Makefile index 61b9a05337..c66c326729 100644 --- a/Makefile +++ b/Makefile @@ -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") diff --git a/cmake/configs/posix_sitl_default.cmake b/cmake/configs/posix_sitl_default.cmake index a42385cd9d..69e76dfa81 100644 --- a/cmake/configs/posix_sitl_default.cmake +++ b/cmake/configs/posix_sitl_default.cmake @@ -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 ) diff --git a/cmake/configs/posix_sitl_test.cmake b/cmake/configs/posix_sitl_test.cmake new file mode 100644 index 0000000000..29e8ee7c8b --- /dev/null +++ b/cmake/configs/posix_sitl_test.cmake @@ -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") diff --git a/posix-configs/SITL/init/rcS_test_jmavsim_iris b/posix-configs/SITL/init/rcS_test_jmavsim_iris new file mode 100644 index 0000000000..3843f2a9b7 --- /dev/null +++ b/posix-configs/SITL/init/rcS_test_jmavsim_iris @@ -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 diff --git a/src/modules/mavlink/mavlink_tests/mavlink_ftp_test.cpp b/src/modules/mavlink/mavlink_tests/mavlink_ftp_test.cpp index a82c4d45a1..e45b91252e 100644 --- a/src/modules/mavlink/mavlink_tests/mavlink_ftp_test.cpp +++ b/src/modules/mavlink/mavlink_tests/mavlink_ftp_test.cpp @@ -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++) { diff --git a/src/modules/unit_test/unit_test.cpp b/src/modules/unit_test/unit_test.cpp index c45d7888ab..9216bb0f34 100644 --- a/src/modules/unit_test/unit_test.cpp +++ b/src/modules/unit_test/unit_test.cpp @@ -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); diff --git a/src/systemcmds/tests/test_uart_console.c b/src/systemcmds/tests/test_uart_console.c index ad1b2776e1..682ad5a129 100644 --- a/src/systemcmds/tests/test_uart_console.c +++ b/src/systemcmds/tests/test_uart_console.c @@ -38,6 +38,7 @@ ****************************************************************************/ #include +#include #include