diff --git a/Makefile b/Makefile index db775507ac..d5bc05985e 100644 --- a/Makefile +++ b/Makefile @@ -263,9 +263,9 @@ ifeq ($(VECTORCONTROL),1) endif unittest: posix_sitl_test - export CC=clang - export CXX=clang++ - export ASAN_OPTIONS=symbolize=1 + @export CC=clang + @export CXX=clang++ + @export ASAN_OPTIONS=symbolize=1 $(call cmake-build-other,unittest, ../unittests) @(cd build_unittest && ctest -j2 --output-on-failure) diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp index 36d109cbdc..b68358685e 100644 --- a/src/modules/commander/state_machine_helper.cpp +++ b/src/modules/commander/state_machine_helper.cpp @@ -148,8 +148,8 @@ transition_result_t arming_state_transition(struct vehicle_status_s *status, /* re-run the pre-flight check as long as sensors are failing */ if (!status_flags->condition_system_sensors_initialized - && ((new_arming_state == vehicle_status_s::ARMING_STATE_ARMED - || new_arming_state == vehicle_status_s::ARMING_STATE_STANDBY)) + && (new_arming_state == vehicle_status_s::ARMING_STATE_ARMED + || new_arming_state == vehicle_status_s::ARMING_STATE_STANDBY) && status->hil_state == vehicle_status_s::HIL_STATE_OFF) { if (last_preflight_check == 0 || hrt_absolute_time() - last_preflight_check > 1000 * 1000) { diff --git a/unittests/CMakeLists.txt b/unittests/CMakeLists.txt index c2e1d87284..edaaa60423 100644 --- a/unittests/CMakeLists.txt +++ b/unittests/CMakeLists.txt @@ -27,7 +27,7 @@ else() endif() set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -std=gnu99 -g") -set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O0 -g3 -fsanitize=address -fno-omit-frame-pointer") +set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -g3 -fsanitize=address -fno-omit-frame-pointer") set(GTEST_DIR ${CMAKE_SOURCE_DIR}/googletest) add_subdirectory(${GTEST_DIR}) @@ -130,7 +130,7 @@ add_gtest(autodeclination_test) # mixer_test add_custom_command(OUTPUT ${PX4_SRC}/modules/systemlib/mixer/mixer_multirotor.generated.h COMMAND ${PX4_SRC}/modules/systemlib/mixer/multi_tables.py > ${PX4_SRC}/modules/systemlib/mixer/mixer_multirotor.generated.h) -add_executable(mixer_test mixer_test.cpp hrt.cpp +add_executable(mixer_test mixer_test.cpp ${PX4_SRC}/modules/systemlib/mixer/mixer.cpp ${PX4_SRC}/modules/systemlib/mixer/mixer_group.cpp ${PX4_SRC}/modules/systemlib/mixer/mixer_load.c @@ -146,17 +146,17 @@ add_executable(conversion_test conversion_test.cpp ${PX4_SRC}/systemcmds/tests/t add_gtest(conversion_test) # sbus2_test -add_executable(sbus2_test sbus2_test.cpp hrt.cpp +add_executable(sbus2_test sbus2_test.cpp ${PX4_SRC}/lib/rc/sbus.c) add_gtest(sbus2_test) # DSM test -add_executable(dsm_test dsm_test.cpp hrt.cpp +add_executable(dsm_test dsm_test.cpp ${PX4_SRC}/lib/rc/dsm.c) add_gtest(dsm_test) # st24_test -add_executable(rc_input_test st24_test.cpp hrt.cpp sumd_test.cpp +add_executable(rc_input_test st24_test.cpp sumd_test.cpp ${PX4_SRC}/lib/rc/st24.c ${PX4_SRC}/lib/rc/sumd.c) add_gtest(rc_input_test) @@ -167,13 +167,13 @@ add_executable(sf0x_test sf0x_test.cpp add_gtest(sf0x_test) # param_test -add_executable(param_test param_test.cpp hrt.cpp uorb_stub.cpp +add_executable(param_test param_test.cpp uorb_stub.cpp ${PX4_SRC}/modules/systemlib/bson/tinybson.c ${PX4_SRC}/modules/systemlib/param/param.c) add_gtest(param_test) # param_shmem_test -#add_executable(param_shmem_test param_test.cpp hrt.cpp uorb_stub.cpp +#add_executable(param_shmem_test param_test.cpp uorb_stub.cpp # ${PX4_SRC}/modules/systemlib/bson/tinybson.c # ${PX4_SRC}/modules/systemlib/param/param_shmem.c) #add_gtest(param_shmem_test) diff --git a/unittests/arch/board/board.h b/unittests/arch/board/board.h deleted file mode 100644 index e69de29bb2..0000000000 diff --git a/unittests/board_config.h b/unittests/board_config.h deleted file mode 100644 index e69de29bb2..0000000000 diff --git a/unittests/debug.h b/unittests/debug.h deleted file mode 100644 index 4071703da2..0000000000 --- a/unittests/debug.h +++ /dev/null @@ -1,10 +0,0 @@ - -#pragma once - -#include -#define lowsyslog warnx -#define dbg warnx - -#if !defined(ASSERT) -# define ASSERT(x) assert((x)) -#endif diff --git a/unittests/hrt.cpp b/unittests/hrt.cpp deleted file mode 100644 index d7b4670db1..0000000000 --- a/unittests/hrt.cpp +++ /dev/null @@ -1,18 +0,0 @@ -#include -#include -#include -#include - -hrt_abstime hrt_absolute_time() -{ - struct timeval te; - gettimeofday(&te, NULL); // get current time - hrt_abstime us = static_cast(te.tv_sec) * 1e6 + te.tv_usec; // caculate us - return us; -} - -hrt_abstime hrt_elapsed_time(const volatile hrt_abstime *then) -{ - // not thread safe - return hrt_absolute_time() - *then; -} diff --git a/unittests/nuttx/config.h b/unittests/nuttx/config.h deleted file mode 100644 index e69de29bb2..0000000000 diff --git a/unittests/param_test.cpp b/unittests/param_test.cpp index 237eed2d64..23e72c1a76 100644 --- a/unittests/param_test.cpp +++ b/unittests/param_test.cpp @@ -10,8 +10,6 @@ struct param_info_s param_array[256]; struct param_info_s *param_info_base; struct param_info_s *param_info_limit; -#define param_info_count 4 - /* * Adds test parameters */ diff --git a/unittests/queue.h b/unittests/queue.h deleted file mode 100644 index e056bc263e..0000000000 --- a/unittests/queue.h +++ /dev/null @@ -1,129 +0,0 @@ -/************************************************************************ - * include/queue.h - * - * Copyright (C) 2007-2009 Gregory Nutt. All rights reserved. - * Author: Gregory Nutt - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name NuttX nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ************************************************************************/ - -#ifndef __INCLUDE_QUEUE_H -#define __INCLUDE_QUEUE_H - -#ifndef FAR -#define FAR -#endif - -/************************************************************************ - * Included Files - ************************************************************************/ - -#include - -/************************************************************************ - * Pre-processor Definitions - ************************************************************************/ - -#define sq_init(q) do { (q)->head = NULL; (q)->tail = NULL; } while (0) -#define dq_init(q) do { (q)->head = NULL; (q)->tail = NULL; } while (0) - -#define sq_next(p) ((p)->flink) -#define dq_next(p) ((p)->flink) -#define dq_prev(p) ((p)->blink) - -#define sq_empty(q) ((q)->head == NULL) -#define dq_empty(q) ((q)->head == NULL) - -#define sq_peek(q) ((q)->head) -#define dq_peek(q) ((q)->head) - -/************************************************************************ - * Global Type Declarations - ************************************************************************/ - -struct sq_entry_s { - FAR struct sq_entry_s *flink; -}; -typedef struct sq_entry_s sq_entry_t; - -struct dq_entry_s { - FAR struct dq_entry_s *flink; - FAR struct dq_entry_s *blink; -}; -typedef struct dq_entry_s dq_entry_t; - -struct sq_queue_s { - FAR sq_entry_t *head; - FAR sq_entry_t *tail; -}; -typedef struct sq_queue_s sq_queue_t; - -struct dq_queue_s { - FAR dq_entry_t *head; - FAR dq_entry_t *tail; -}; -typedef struct dq_queue_s dq_queue_t; - -/************************************************************************ - * Global Function Prototypes - ************************************************************************/ - -#ifdef __cplusplus -#define EXTERN extern "C" -extern "C" { -#else -#define EXTERN extern -#endif - -EXTERN void sq_addfirst(FAR sq_entry_t *node, sq_queue_t *queue); -EXTERN void dq_addfirst(FAR dq_entry_t *node, dq_queue_t *queue); -EXTERN void sq_addlast(FAR sq_entry_t *node, sq_queue_t *queue); -EXTERN void dq_addlast(FAR dq_entry_t *node, dq_queue_t *queue); -EXTERN void sq_addafter(FAR sq_entry_t *prev, FAR sq_entry_t *node, - sq_queue_t *queue); -EXTERN void dq_addafter(FAR dq_entry_t *prev, FAR dq_entry_t *node, - dq_queue_t *queue); -EXTERN void dq_addbefore(FAR dq_entry_t *next, FAR dq_entry_t *node, - dq_queue_t *queue); - -EXTERN FAR sq_entry_t *sq_remafter(FAR sq_entry_t *node, sq_queue_t *queue); -EXTERN void sq_rem(FAR sq_entry_t *node, sq_queue_t *queue); -EXTERN void dq_rem(FAR dq_entry_t *node, dq_queue_t *queue); -EXTERN FAR sq_entry_t *sq_remlast(sq_queue_t *queue); -EXTERN FAR dq_entry_t *dq_remlast(dq_queue_t *queue); -EXTERN FAR sq_entry_t *sq_remfirst(sq_queue_t *queue); -EXTERN FAR dq_entry_t *dq_remfirst(dq_queue_t *queue); - -#undef EXTERN -#ifdef __cplusplus -} -#endif - -#endif /* __INCLUDE_QUEUE_H_ */ -