remove unused

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)
 	

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) {

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)

unittests/debug.h

-
-#pragma once
-
-#include <systemlib/err.h>
-#define lowsyslog warnx
-#define dbg warnx
-
-#if !defined(ASSERT)
-# define ASSERT(x) assert((x))
-#endif

unittests/hrt.cpp

-#include <sys/time.h>
-#include <inttypes.h>
-#include <drivers/drv_hrt.h>
-#include <stdio.h>
-
-hrt_abstime hrt_absolute_time()
-{
-	struct timeval te;
-	gettimeofday(&te, NULL); // get current time
-	hrt_abstime us = static_cast<uint64_t>(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;
-}

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
  */

unittests/queue.h

-/************************************************************************
- * include/queue.h
- *
- *   Copyright (C) 2007-2009 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <gnutt@nuttx.org>
- *
- * 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 <sys/types.h>
-
-/************************************************************************
- * 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_ */
-