diff --git a/Makefile b/Makefile index 360761cbfe..0cd46f1310 100644 --- a/Makefile +++ b/Makefile @@ -305,7 +305,7 @@ test: test_math test_examples test_modules # subset of airframes for coverity test to pass the limited build time on travis test_coverity: all CONF_XML=conf/conf_tests_coverity.xml prove tests/aircrafts/ 2>&1 | tee ./var/compile.log - python ./sw/tools/parse_compile_logs.py + prove -v ./tests/parse_compile_logs.py # test AggieAir conf test_aggieair: all @@ -323,7 +323,7 @@ test_tudelft: all CONF_XML=conf/userconf/tudelft/delfly_conf.xml prove tests/aircrafts/ 2>&1 | tee -a ./var/compile.log CONF_XML=conf/userconf/tudelft/course_conf.xml prove tests/aircrafts/ 2>&1 | tee -a ./var/compile.log CONF_XML=conf/userconf/tudelft/guido_conf.xml prove tests/aircrafts/ 2>&1 | tee -a ./var/compile.log - python ./sw/tools/parse_compile_logs.py | tee ./issues.md + prove -v ./tests/parse_compile_logs.py # test GVF conf test_gvf: all @@ -333,7 +333,7 @@ test_gvf: all # compiles all aircrafts in conf_tests.xml test_examples: all CONF_XML=conf/conf_tests.xml prove tests/aircrafts/ 2>&1 | tee ./var/compile.log - python ./sw/tools/parse_compile_logs.py | tee ./issues.md + prove -v ./tests/parse_compile_logs.py # test compilation of modules test_modules: all @@ -350,7 +350,7 @@ test_math: test_full: make -C ./ test_all_confs 2>&1 | tee ./var/compile.log - python ./sw/tools/parse_compile_logs.py | tee ./issues.md + prove -v ./tests/parse_compile_logs.py diff --git a/conf/airframes/BR/conf.xml b/conf/airframes/BR/conf.xml index 11bff5ebb9..800f31a7c5 100644 --- a/conf/airframes/BR/conf.xml +++ b/conf/airframes/BR/conf.xml @@ -17,7 +17,7 @@ radio="radios/dummy.xml" telemetry="telemetry/default_rotorcraft.xml" flight_plan="flight_plans/rotorcraft_survey.xml" - settings="settings/rotorcraft_basic.xml settings/estimation/ahrs_secondary.xml" + settings="settings/rotorcraft_basic.xml" settings_modules="modules/ahrs_float_mlkf.xml modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/bebop_cam.xml modules/cv_blob_locator.xml modules/digital_cam_video.xml modules/geo_mag.xml modules/gps.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_basic_rotorcraft.xml modules/nav_survey_poly_rotorcraft.xml modules/nav_survey_rectangle_rotorcraft.xml modules/stabilization_indi_simple.xml modules/video_capture.xml modules/video_rtp_stream.xml" gui_color="#ffff0689b7a1" /> @@ -28,7 +28,7 @@ radio="radios/dummy.xml" telemetry="telemetry/default_rotorcraft.xml" flight_plan="flight_plans/tudelft/rotorcraft_survey_delft.xml" - settings="settings/rotorcraft_basic.xml settings/estimation/ahrs_secondary.xml" + settings="settings/rotorcraft_basic.xml" settings_modules="modules/ahrs_float_mlkf.xml modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/bebop_cam.xml modules/cv_blob_locator.xml modules/digital_cam_video.xml modules/geo_mag.xml modules/gps.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_basic_rotorcraft.xml modules/nav_survey_poly_rotorcraft.xml modules/nav_survey_rectangle_rotorcraft.xml modules/stabilization_indi_simple.xml modules/video_capture.xml modules/video_rtp_stream.xml" gui_color="#ffff0689b7a1" /> diff --git a/conf/airframes/FLIXR/flixr_conf.xml b/conf/airframes/FLIXR/flixr_conf.xml index 4d427c4bbb..20e31e04ec 100644 --- a/conf/airframes/FLIXR/flixr_conf.xml +++ b/conf/airframes/FLIXR/flixr_conf.xml @@ -28,7 +28,7 @@ radio="radios/dummy.xml" telemetry="telemetry/default_rotorcraft.xml" flight_plan="flight_plans/rotorcraft_basic.xml" - settings="settings/rotorcraft_basic.xml settings/setup_actuators.xml settings/estimation/ahrs_secondary.xml" + settings="settings/rotorcraft_basic.xml settings/setup_actuators.xml" settings_modules="modules/ahrs_float_mlkf.xml modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/electrical.xml modules/geo_mag.xml modules/gps.xml modules/gps_ublox.xml modules/gps_ubx_ucenter.xml modules/guidance_pid_rotorcraft.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/nav_rotorcraft.xml modules/stabilization_int_quat.xml" gui_color="blue" /> diff --git a/conf/conf_tests.xml b/conf/conf_tests.xml index eab59262d4..60ec4050e7 100644 --- a/conf/conf_tests.xml +++ b/conf/conf_tests.xml @@ -18,7 +18,7 @@ telemetry="telemetry/default_fixedwing_imu.xml" flight_plan="flight_plans/versatile.xml" settings="settings/fixedwing_basic.xml" - settings_modules="modules/ahrs_float_dcm.xml modules/air_data.xml modules/digital_cam.xml modules/electrical.xml modules/gps.xml modules/gps_ublox.xml modules/gps_ubx_ucenter.xml modules/guidance_basic_fw.xml modules/imu_common.xml modules/light.xml modules/nav_basic_fw.xml modules/nav_catapult.xml modules/stabilization_attitude_fw.xml" + settings_modules="modules/ahrs_float_dcm.xml modules/air_data.xml modules/digital_cam_common.xml modules/electrical.xml modules/gps.xml modules/gps_ublox.xml modules/gps_ubx_ucenter.xml modules/guidance_basic_fw.xml modules/imu_common.xml modules/light.xml modules/nav_basic_fw.xml modules/nav_catapult.xml modules/stabilization_attitude_fw.xml" gui_color="blue" /> diff --git a/conf/modules/can.xml b/conf/modules/can.xml index b7b4f3bd79..1aaf1d6fa3 100644 --- a/conf/modules/can.xml +++ b/conf/modules/can.xml @@ -10,7 +10,7 @@ - mcu + mcu,threads
diff --git a/conf/modules/i2c.xml b/conf/modules/i2c.xml index e77623995b..3739f46a82 100644 --- a/conf/modules/i2c.xml +++ b/conf/modules/i2c.xml @@ -7,6 +7,9 @@ To activate a specific I2C peripheral, define flag USE_I2CX where X is your I2C peripheral number + + mcu,threads +
diff --git a/conf/modules/spi_master.xml b/conf/modules/spi_master.xml index f4a6300b4c..bd0f093e7b 100644 --- a/conf/modules/spi_master.xml +++ b/conf/modules/spi_master.xml @@ -8,7 +8,7 @@ - mcu + mcu,threads
diff --git a/conf/modules/sys_time.xml b/conf/modules/sys_time.xml index e4e0ea460f..298fa958cb 100644 --- a/conf/modules/sys_time.xml +++ b/conf/modules/sys_time.xml @@ -7,6 +7,9 @@ + + threads +
diff --git a/conf/modules/uart.xml b/conf/modules/uart.xml index 4489d03520..0faf3e9c3e 100644 --- a/conf/modules/uart.xml +++ b/conf/modules/uart.xml @@ -8,7 +8,7 @@ - mcu + mcu,threads
diff --git a/conf/settings/estimation/ahrs_secondary.xml b/conf/settings/estimation/ahrs_secondary.xml deleted file mode 100644 index 6931506c61..0000000000 --- a/conf/settings/estimation/ahrs_secondary.xml +++ /dev/null @@ -1,11 +0,0 @@ - - - - - - - - - - - diff --git a/conf/userconf/tudelft/conf.xml b/conf/userconf/tudelft/conf.xml index 8d759b4332..14121b1d4c 100644 --- a/conf/userconf/tudelft/conf.xml +++ b/conf/userconf/tudelft/conf.xml @@ -28,7 +28,7 @@ radio="radios/dummy.xml" telemetry="telemetry/default_rotorcraft_mavlink.xml" flight_plan="flight_plans/tudelft/rotorcraft_survey_delft.xml" - settings="settings/rotorcraft_basic.xml settings/estimation/ahrs_secondary.xml settings/control/rotorcraft_speed.xml" + settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_speed.xml" settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/bebop_cam.xml modules/cv_blob_locator.xml modules/digital_cam_video.xml modules/geo_mag.xml modules/gps.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_basic_rotorcraft.xml [modules/nav_survey_poly_rotorcraft.xml] [modules/nav_survey_rectangle_rotorcraft.xml] modules/stabilization_indi_simple.xml modules/video_capture.xml" gui_color="#ffff0689b7a1" /> @@ -424,7 +424,7 @@ radio="radios/dummy.xml" telemetry="telemetry/default_rotorcraft.xml" flight_plan="flight_plans/tudelft/delft_bebop.xml" - settings="settings/rotorcraft_basic.xml [settings/estimation/ahrs_secondary.xml]" + settings="settings/rotorcraft_basic.xml" settings_modules="modules/air_data.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_ekf2.xml modules/nav_basic_rotorcraft.xml modules/stabilization_indi_simple.xml" gui_color="#baa3d698b729" /> diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_indi_hybrid.h b/sw/airborne/firmwares/rotorcraft/guidance/guidance_indi_hybrid.h index 6b35911ef7..f21a263b5c 100644 --- a/sw/airborne/firmwares/rotorcraft/guidance/guidance_indi_hybrid.h +++ b/sw/airborne/firmwares/rotorcraft/guidance/guidance_indi_hybrid.h @@ -33,7 +33,7 @@ #include "std.h" #include "math/pprz_algebra_int.h" #include "math/pprz_algebra_float.h" -#include "filters/high_pass_filter.h" +#include "filters/low_pass_filter.h" #include "firmwares/rotorcraft/guidance.h" #include "firmwares/rotorcraft/stabilization.h" diff --git a/sw/airborne/math/pprz_random.c b/sw/airborne/math/pprz_random.c index 59a8b549fe..da94d08761 100644 --- a/sw/airborne/math/pprz_random.c +++ b/sw/airborne/math/pprz_random.c @@ -25,7 +25,7 @@ #include "pprz_random.h" -#ifdef BOARD_CONFIG +#if (defined BOARD_CONFIG) && (!defined HITL) #include "mcu_periph/sys_time.h" #else #include @@ -34,7 +34,7 @@ void init_random(void) { -#ifdef BOARD_CONFIG +#if (defined BOARD_CONFIG) && (!defined HITL) srand(get_sys_time_msec()); #else srand(time(NULL)); diff --git a/sw/airborne/mcu_periph/uart.c b/sw/airborne/mcu_periph/uart.c index 3f344f2779..46ad7bf8f6 100644 --- a/sw/airborne/mcu_periph/uart.c +++ b/sw/airborne/mcu_periph/uart.c @@ -22,10 +22,10 @@ #include "mcu_periph/uart.h" -#if PERIODIC_TELEMETRY && (USE_UART0 || USE_UART1 || USE_UART2 || USE_UART3 || USE_UART4 || USE_UART5 || USE_UART6 || USE_UART7 || USE_UART8) +#if PERIODIC_TELEMETRY #include "modules/datalink/telemetry.h" -static void send_uartx_err(struct transport_tx *trans, struct link_device *dev, struct uart_periph* uart) +UNUSED static void send_uartx_err(struct transport_tx *trans, struct link_device *dev, struct uart_periph* uart) { uint16_t ore = uart->ore; uint16_t ne_err = uart->ne_err; diff --git a/sw/airborne/modules/ins/ins_gps_passthrough_utm.c b/sw/airborne/modules/ins/ins_gps_passthrough_utm.c index 98ac365d8e..ce0c5bc0e5 100644 --- a/sw/airborne/modules/ins/ins_gps_passthrough_utm.c +++ b/sw/airborne/modules/ins/ins_gps_passthrough_utm.c @@ -35,6 +35,7 @@ #include "state.h" #include "modules/gps/gps.h" #include "firmwares/fixedwing/nav.h" +#include "generated/modules.h" #include "modules/core/abi.h" diff --git a/sw/airborne/modules/ins/ins_xsens.c b/sw/airborne/modules/ins/ins_xsens.c index b942442339..e33cb6d9f6 100644 --- a/sw/airborne/modules/ins/ins_xsens.c +++ b/sw/airborne/modules/ins/ins_xsens.c @@ -28,6 +28,7 @@ #include "modules/ins/ins.h" #include "generated/airframe.h" +#include "generated/modules.h" #include "mcu_periph/sys_time.h" #include "modules/core/abi.h" diff --git a/sw/tools/parse_compile_logs.py b/tests/parse_compile_logs.py similarity index 86% rename from sw/tools/parse_compile_logs.py rename to tests/parse_compile_logs.py index 34b91b0ede..f705ab505c 100755 --- a/sw/tools/parse_compile_logs.py +++ b/tests/parse_compile_logs.py @@ -6,6 +6,10 @@ import os import sys import re +from os import path + +sys.path.append(path.normpath(path.join(path.dirname(path.abspath(__file__)), 'modules'))) +from TAP import Builder def parse_log(log_file): with open(log_file, 'r') as f: @@ -41,8 +45,9 @@ def parse_log(log_file): def print_errors(errors): last_conf = '' last_airframe = '' + ok = Builder.create(1).ok if len(errors) == 0: - print(' - everything looks OK!') + ok(True,' - everything looks OK!') return for conf, airframe, error in errors: if conf != last_conf: @@ -56,7 +61,8 @@ def print_errors(errors): print(' - ',airframe) last_airframe = airframe - print('\t- [ ] ```',error, '```') + print('\t- [ ] ```',error,'```') + ok(False,f'- found {len(errors)} errors') if __name__ == '__main__':