Fix compilation tests (#3550)

* [fix] fix some bugs

small errors from compilation tests

* Attempt to fix the detection of failing tests

Side effect: the file issues.md is not produced anymore, but still available in stdout, so needs a manual copy if needed

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
 
 
 

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"
   />

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"
   />

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"
   />
   <aircraft
@@ -62,7 +62,7 @@
    telemetry="telemetry/highspeed_rotorcraft.xml"
    flight_plan="flight_plans/tudelft/rotwing_troia.xml"
    settings="settings/rotorcraft_basic.xml"
-   settings_modules="modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/airspeed_uavcan.xml modules/approach_moving_target.xml modules/eff_scheduling_rotwing.xml modules/ekf_aw.xml modules/electrical.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_indi_hybrid.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/imu_heater.xml modules/ins_ekf2.xml modules/logger_sd_chibios.xml modules/nav_hybrid.xml modules/nav_rotorcraft.xml modules/parachute.xml modules/pfc_actuators.xml modules/preflight_checks.xml modules/rotwing_state.xml modules/stabilization_indi.xml modules/sys_id_auto_doublets.xml modules/sys_id_doublet.xml modules/target_pos.xml"
+   settings_modules="modules/air_data.xml modules/airspeed_consistency.xml modules/airspeed_ms45xx_i2c.xml modules/airspeed_uavcan.xml modules/approach_moving_target.xml modules/eff_scheduling_rotwing.xml modules/ekf_aw.xml modules/electrical.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_indi_hybrid.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/imu_heater.xml modules/ins_ekf2.xml modules/logger_sd_chibios.xml modules/nav_hybrid.xml modules/nav_rotorcraft.xml modules/parachute.xml modules/pfc_actuators.xml modules/preflight_checks.xml modules/rotwing_state.xml modules/stabilization_indi.xml modules/sys_id_auto_doublets.xml modules/sys_id_doublet.xml modules/target_pos.xml"
    gui_color="red"
   />
   <aircraft
@@ -83,7 +83,7 @@
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft_mavlink.xml"
    flight_plan="flight_plans/rotorcraft_basic.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/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"
   />

conf/modules/can.xml

@@ -10,7 +10,7 @@
     <define name="USE_CANx" value="FALSE" description="Enable the CANx port"/>
   </doc>
   <dep>
-    <depends>mcu</depends>
+    <depends>mcu,threads</depends>
   </dep>
   <header>
     <file name="can.h" dir="mcu_periph"/>

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
     </description>
   </doc>
+  <dep>
+    <depends>mcu,threads</depends>
+  </dep>
   <header>
     <file name="i2c.h" dir="mcu_periph"/>
   </header>

conf/modules/spi_master.xml

@@ -8,7 +8,7 @@
     </description>
   </doc>
   <dep>
-    <depends>mcu</depends>
+    <depends>mcu,threads</depends>
   </dep>
   <header>
     <file name="spi.h" dir="mcu_periph"/>

conf/modules/sys_time.xml

@@ -7,6 +7,9 @@
     </description>
     <configure name="SYS_TIME_LED" value="none|num" description="LED number used for systime heartbeat or 'none' to disable"/>
   </doc>
+  <dep>
+    <depends>threads</depends>
+  </dep>
   <header>
     <file name="sys_time.h" dir="mcu_periph"/>
   </header>

conf/modules/uart.xml

@@ -8,7 +8,7 @@
     </description>
   </doc>
   <dep>
-    <depends>mcu</depends>
+    <depends>mcu,threads</depends>
   </dep>
   <header>
     <file name="uart.h" dir="mcu_periph"/>

conf/settings/estimation/ahrs_secondary.xml

@@ -1,11 +0,0 @@
-<!DOCTYPE settings SYSTEM "../settings.dtd">
-
-<settings target="ap|nps|test_ahrs">
-  <dl_settings>
-
-    <dl_settings NAME="AHRS">
-       <dl_setting var="ahrs_output_idx" min="0" step="1" max="1" values="PRIMARY|SECONDARY" module="modules/ahrs/ahrs" shortname="ahrs output" handler="switch"/>
-    </dl_settings>
-
-  </dl_settings>
-</settings>

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"
   />

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"
 

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 <time.h>
@@ -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));

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;

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"

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"

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__':