From 63b967f5df1d77c1705c1be050be1124e861cb37 Mon Sep 17 00:00:00 2001
From: Matthias Grob <maetugr@gmail.com>
Date: Sat, 2 Mar 2019 18:18:00 +0100
Subject: [PATCH] Add unit testing possibility using googletest on POSIX
---
CMakeLists.txt | 14 ++++
Makefile | 7 +-
cmake/gtest/CMakeLists.txt.in | 18 +++++
cmake/gtest/gtest.cmake | 43 ++++++++++++
cmake/gtest/px4_add_gtest.cmake | 68 +++++++++++++++++++
src/include/visibility.h | 2 +-
.../AttitudeControl/AttitudeControlTest.cpp | 12 ++++
.../AttitudeControl/CMakeLists.txt | 2 +
8 files changed, 164 insertions(+), 2 deletions(-)
create mode 100644 cmake/gtest/CMakeLists.txt.in
create mode 100644 cmake/gtest/gtest.cmake
create mode 100644 cmake/gtest/px4_add_gtest.cmake
create mode 100644 src/modules/mc_att_control/AttitudeControl/AttitudeControlTest.cpp
diff --git a/CMakeLists.txt b/CMakeLists.txt
index d1815f6d8c..5ddc25ed08 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -413,6 +413,20 @@ if (NOT EXTERNAL_MODULES_LOCATION STREQUAL "")
endforeach()
endif()
+#=============================================================================
+# Testing - Automatic unit and integration testing with CTest
+#
+
+option(unit_testing "Configure unit test targets" OFF)
+
+list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/cmake/gtest/)
+include(px4_add_gtest)
+
+if(unit_testing)
+ include(gtest)
+ add_custom_target(unit_test COMMAND GTEST_COLOR=1 ${CMAKE_CTEST_COMMAND} -V -R Test USES_TERMINAL)
+endif()
+
#=============================================================================
# subdirectories
#
diff --git a/Makefile b/Makefile
index c1f0202204..a6550ba2e3 100644
--- a/Makefile
+++ b/Makefile
@@ -337,9 +337,14 @@ format:
# Testing
# --------------------------------------------------------------------
-.PHONY: tests tests_coverage tests_mission tests_mission_coverage tests_offboard tests_avoidance
+.PHONY: tests tests_coverage tests_mission tests_mission_coverage tests_offboard tests_avoidance unit_test
.PHONY: rostest python_coverage
+unit_test:
+ $(eval CMAKE_ARGS += -Dunit_testing=ON)
+ $(eval ARGS += unit_test)
+ $(call cmake-build,px4_sitl_default)
+
tests:
@$(MAKE) --no-print-directory px4_sitl_test test_results \
ASAN_OPTIONS="color=always:check_initialization_order=1:detect_stack_use_after_return=1" \
diff --git a/cmake/gtest/CMakeLists.txt.in b/cmake/gtest/CMakeLists.txt.in
new file mode 100644
index 0000000000..0634841841
--- /dev/null
+++ b/cmake/gtest/CMakeLists.txt.in
@@ -0,0 +1,18 @@
+cmake_minimum_required(VERSION 2.8.4)
+
+project(googletest-download NONE)
+
+include(ExternalProject)
+ExternalProject_Add(googletest
+ URL https://github.com/google/googletest/archive/master.zip
+ SOURCE_DIR "${CMAKE_CURRENT_BINARY_DIR}/googletest-src"
+ BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}/googletest-build"
+ CONFIGURE_COMMAND ""
+ BUILD_COMMAND ""
+ INSTALL_COMMAND ""
+ TEST_COMMAND ""
+ # Wrap download, configure and build steps in a script to log output
+ LOG_DOWNLOAD ON
+ LOG_CONFIGURE ON
+ LOG_BUILD ON
+)
diff --git a/cmake/gtest/gtest.cmake b/cmake/gtest/gtest.cmake
new file mode 100644
index 0000000000..94c4103ce5
--- /dev/null
+++ b/cmake/gtest/gtest.cmake
@@ -0,0 +1,43 @@
+############################################################################
+#
+# Copyright (c) 2019 PX4 Development Team. All rights reserved.
+#
+# 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 PX4 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.
+#
+############################################################################
+
+# Download and unpack googletest at configure time
+configure_file(${CMAKE_CURRENT_LIST_DIR}/CMakeLists.txt.in googletest-download/CMakeLists.txt)
+execute_process(COMMAND ${CMAKE_COMMAND} -G "${CMAKE_GENERATOR}" . RESULT_VARIABLE result1 WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/googletest-download)
+execute_process(COMMAND ${CMAKE_COMMAND} --build . RESULT_VARIABLE result2 WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/googletest-download)
+if(result1 OR result2)
+ message(FATAL_ERROR "Preparing googletest failed: ${result1} ${result2}")
+endif()
+
+# Add googletest, defines gtest and gtest_main targets
+add_subdirectory(${CMAKE_CURRENT_BINARY_DIR}/googletest-src ${CMAKE_CURRENT_BINARY_DIR}/googletest-build EXCLUDE_FROM_ALL)
diff --git a/cmake/gtest/px4_add_gtest.cmake b/cmake/gtest/px4_add_gtest.cmake
new file mode 100644
index 0000000000..42124acac3
--- /dev/null
+++ b/cmake/gtest/px4_add_gtest.cmake
@@ -0,0 +1,68 @@
+############################################################################
+#
+# Copyright (c) 2019 PX4 Development Team. All rights reserved.
+#
+# 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 PX4 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.
+#
+############################################################################
+
+include(px4_base)
+
+#=============================================================================
+#
+# px4_add_gtest
+#
+# Adds a googletest unit test to the unit_test target.
+#
+function(px4_add_gtest)
+ # skip if unit testing is not configured
+ if(unit_testing)
+ # parse source file and library dependencies from arguments
+ px4_parse_function_args(
+ NAME px4_add_gtest
+ ONE_VALUE SRC
+ MULTI_VALUE LINKLIBS
+ REQUIRED SRC
+ ARGN ${ARGN})
+
+ # infer test name from source filname without extension
+ get_filename_component(TESTNAME ${SRC} NAME_WE)
+
+ # build a binary for the unit test
+ add_executable(${TESTNAME} EXCLUDE_FROM_ALL ${SRC})
+
+ # link the libary to test and gtest
+ target_link_libraries(${TESTNAME} ${LINKLIBS} gtest_main)
+
+ # add the test to the ctest plan
+ add_test(NAME ${TESTNAME} COMMAND ${TESTNAME})
+
+ # attach it to the unit test target
+ add_dependencies(unit_test ${TESTNAME})
+ endif()
+endfunction()
diff --git a/src/include/visibility.h b/src/include/visibility.h
index 1a956f02e8..3717b63704 100644
--- a/src/include/visibility.h
+++ b/src/include/visibility.h
@@ -86,7 +86,7 @@
#ifdef __cplusplus
#include <cstdlib>
#endif
-#pragma GCC poison exit
+//#pragma GCC poison exit
#include <stdlib.h>
diff --git a/src/modules/mc_att_control/AttitudeControl/AttitudeControlTest.cpp b/src/modules/mc_att_control/AttitudeControl/AttitudeControlTest.cpp
new file mode 100644
index 0000000000..7dc0055078
--- /dev/null
+++ b/src/modules/mc_att_control/AttitudeControl/AttitudeControlTest.cpp
@@ -0,0 +1,12 @@
+#include <gtest/gtest.h>
+#include <AttitudeControl.hpp>
+
+using namespace matrix;
+
+TEST(AttitudeControlTest, AllZeroCase) {
+ AttitudeControl attitude_control;
+ matrix::Vector3f rate_setpoint = attitude_control.update(Quatf(), Quatf(), 0.f);
+ EXPECT_EQ(rate_setpoint(0), 0.f);
+ EXPECT_EQ(rate_setpoint(1), 0.f);
+ EXPECT_EQ(rate_setpoint(2), 0.f);
+}
diff --git a/src/modules/mc_att_control/AttitudeControl/CMakeLists.txt b/src/modules/mc_att_control/AttitudeControl/CMakeLists.txt
index 6e29d4762a..f4b1ace74a 100644
--- a/src/modules/mc_att_control/AttitudeControl/CMakeLists.txt
+++ b/src/modules/mc_att_control/AttitudeControl/CMakeLists.txt
@@ -38,3 +38,5 @@ target_include_directories(AttitudeControl
PUBLIC
${CMAKE_CURRENT_SOURCE_DIR}
)
+
+px4_add_gtest(SRC AttitudeControlTest.cpp LINKLIBS AttitudeControl)
--
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