diff --git a/cmake/configs/nuttx_aerocore2_default.cmake b/cmake/configs/nuttx_aerocore2_default.cmake
index 417043f012e4d1ee17c0019f240f08737a038457..a6a79bfe4209f355c8628e109d2146a031eb118d 100644
--- a/cmake/configs/nuttx_aerocore2_default.cmake
+++ b/cmake/configs/nuttx_aerocore2_default.cmake
@@ -63,7 +63,6 @@ set(config_module_list
#modules/commander/commander_tests
#lib/controllib/controllib_test
#modules/mavlink/mavlink_tests
- #modules/unit_test
#modules/uORB/uORB_tests
#systemcmds/tests
diff --git a/cmake/configs/nuttx_auav-x21_default.cmake b/cmake/configs/nuttx_auav-x21_default.cmake
index d4db053711ed380de3903bc309886f4accfcf974..c5b774cf55b1c5ba3787a00248b5b4d02a5c2dd7 100644
--- a/cmake/configs/nuttx_auav-x21_default.cmake
+++ b/cmake/configs/nuttx_auav-x21_default.cmake
@@ -84,7 +84,6 @@ set(config_module_list
lib/controllib/controllib_test
modules/mavlink/mavlink_tests
modules/mc_pos_control/mc_pos_control_tests
- modules/unit_test
modules/uORB/uORB_tests
systemcmds/tests
diff --git a/cmake/configs/nuttx_mindpx-v2_default.cmake b/cmake/configs/nuttx_mindpx-v2_default.cmake
index 2903a545a29aeb1b8e6b1ad63ab986e2c0bde851..7ab56290f866ce2625a37bdde9611b40d00d5c18 100644
--- a/cmake/configs/nuttx_mindpx-v2_default.cmake
+++ b/cmake/configs/nuttx_mindpx-v2_default.cmake
@@ -86,7 +86,6 @@ set(config_module_list
modules/mc_pos_control/mc_pos_control_tests
lib/controllib/controllib_test
modules/mavlink/mavlink_tests
- modules/unit_test
modules/uORB/uORB_tests
systemcmds/tests
diff --git a/cmake/configs/nuttx_px4fmu-v2_test.cmake b/cmake/configs/nuttx_px4fmu-v2_test.cmake
index 8f627f8ad43e6562ef0f2fb7a52a2eeec76e14e1..36f2bf3ae4f2e45b7210d59afdef35b414cc31a7 100644
--- a/cmake/configs/nuttx_px4fmu-v2_test.cmake
+++ b/cmake/configs/nuttx_px4fmu-v2_test.cmake
@@ -84,7 +84,6 @@ set(config_module_list
modules/mc_pos_control/mc_pos_control_tests
lib/controllib/controllib_test
modules/mavlink/mavlink_tests
- modules/unit_test
modules/uORB/uORB_tests
systemcmds/tests
diff --git a/cmake/configs/nuttx_px4fmu-v3_default.cmake b/cmake/configs/nuttx_px4fmu-v3_default.cmake
index 38fc8b2bc112b37cf6c284634131b830f146d291..a2654535fd6f58cade4c0eec4946b73c846c8164 100644
--- a/cmake/configs/nuttx_px4fmu-v3_default.cmake
+++ b/cmake/configs/nuttx_px4fmu-v3_default.cmake
@@ -91,7 +91,6 @@ set(config_module_list
lib/controllib/controllib_test
modules/mavlink/mavlink_tests
modules/mc_pos_control/mc_pos_control_tests
- modules/unit_test
modules/uORB/uORB_tests
systemcmds/tests
diff --git a/cmake/configs/nuttx_px4fmu-v4_default.cmake b/cmake/configs/nuttx_px4fmu-v4_default.cmake
index 1a411f549e7e4e7d22d7420642d63d1cece0e4c8..a7be2539427fc1c10bf3ced06589014de38688c3 100644
--- a/cmake/configs/nuttx_px4fmu-v4_default.cmake
+++ b/cmake/configs/nuttx_px4fmu-v4_default.cmake
@@ -90,7 +90,6 @@ set(config_module_list
modules/mc_pos_control/mc_pos_control_tests
lib/controllib/controllib_test
modules/mavlink/mavlink_tests
- modules/unit_test
modules/uORB/uORB_tests
systemcmds/tests
diff --git a/cmake/configs/nuttx_px4fmu-v4pro_default.cmake b/cmake/configs/nuttx_px4fmu-v4pro_default.cmake
index 089e740f19b71be3767fe7a8498c68484c520ce7..1b61fa64c793911139f3d95b6a3fe4a7e68634d3 100644
--- a/cmake/configs/nuttx_px4fmu-v4pro_default.cmake
+++ b/cmake/configs/nuttx_px4fmu-v4pro_default.cmake
@@ -91,7 +91,6 @@ set(config_module_list
lib/controllib/controllib_test
modules/mavlink/mavlink_tests
modules/mc_pos_control/mc_pos_control_tests
- modules/unit_test
modules/uORB/uORB_tests
systemcmds/tests
diff --git a/cmake/configs/nuttx_px4fmu-v5_default.cmake b/cmake/configs/nuttx_px4fmu-v5_default.cmake
index bbd7f592ef3fecad036a2e3fab05ead47140f0f6..a293eb7731d674a680cba3422d29a7a1b7447569 100644
--- a/cmake/configs/nuttx_px4fmu-v5_default.cmake
+++ b/cmake/configs/nuttx_px4fmu-v5_default.cmake
@@ -89,7 +89,6 @@ set(config_module_list
lib/controllib/controllib_test
modules/mavlink/mavlink_tests
modules/mc_pos_control/mc_pos_control_tests
- modules/unit_test
modules/uORB/uORB_tests
systemcmds/tests
diff --git a/cmake/configs/posix_sitl_default.cmake b/cmake/configs/posix_sitl_default.cmake
index 34fda5cce5857acdd94732a0fc4dad9c20cfd8e2..b8099b1ffdb6d6d0f01387197a4ae77971eb80d5 100644
--- a/cmake/configs/posix_sitl_default.cmake
+++ b/cmake/configs/posix_sitl_default.cmake
@@ -51,7 +51,6 @@ set(config_module_list
lib/controllib/controllib_test
modules/mavlink/mavlink_tests
modules/mc_pos_control/mc_pos_control_tests
- modules/unit_test
modules/uORB/uORB_tests
systemcmds/tests
diff --git a/src/drivers/sf0x/sf0x_tests/SF0XTest.cpp b/src/drivers/sf0x/sf0x_tests/SF0XTest.cpp
index f88a9056bd8c659cc67cc7902dc87ed36ea1e86f..d2bf65eaa30ca5b1b8ef8491a57c0ea6c809fa93 100644
--- a/src/drivers/sf0x/sf0x_tests/SF0XTest.cpp
+++ b/src/drivers/sf0x/sf0x_tests/SF0XTest.cpp
@@ -1,4 +1,4 @@
-#include <unit_test/unit_test.h>
+#include <unit_test.h>
#include <drivers/sf0x/sf0x_parser.h>
diff --git a/src/modules/unit_test/unit_test.h b/src/include/unit_test.h
similarity index 88%
rename from src/modules/unit_test/unit_test.h
rename to src/include/unit_test.h
index 2a6150d4c4b86b9dcfaa6dc20a16bb935f323d80..f9fac8f80b8bb8a77e0717e2c995e61b2dc1f90a 100644
--- a/src/modules/unit_test/unit_test.h
+++ b/src/include/unit_test.h
@@ -53,15 +53,28 @@ class __EXPORT UnitTest
{
public:
- UnitTest();
- virtual ~UnitTest();
+ UnitTest() = default;
+ virtual ~UnitTest() = default;
/// @brief Override to run your unit tests. Unit tests should be called using ut_run_test macro.
/// @return true: all unit tests succeeded, false: one or more unit tests failed
virtual bool run_tests(void) = 0;
/// @brief Prints results from running of unit tests.
- void print_results(void);
+ void print_results()
+ {
+ if (_tests_failed) {
+ PX4_ERR("SOME TESTS FAILED");
+
+ } else {
+ PX4_INFO("ALL TESTS PASSED");
+ }
+
+ PX4_INFO(" Tests passed : %d", _tests_passed);
+ PX4_INFO(" Tests failed : %d", _tests_failed);
+ PX4_INFO(" Tested assertions : %d", _assertions);
+ }
+
/// @brief Macro to create a function which will run a unit test class and print results.
#define ut_declare_test(test_function, test_class) \
@@ -175,14 +188,21 @@ protected:
virtual void _init(void) { }; ///< Run before each unit test. Override to provide custom behavior.
virtual void _cleanup(void) { }; ///< Run after each unit test. Override to provide custom behavior.
- void _print_assert(const char *msg, const char *test, const char *file, int line);
+ void _print_assert(const char *msg, const char *test, const char *file, int line)
+ {
+ PX4_ERR("Assertion failed: %s - %s (%s:%d)", msg, test, file, line);
+ }
+
void _print_compare(const char *msg, const char *v1_text, int v1, const char *v2_text, int v2, const char *file,
- int line);
+ int line)
+ {
+ PX4_ERR("Compare failed: %s - (%s:%d) (%s:%d) (%s:%d)", msg, v1_text, v1, v2_text, v2, file, line);
+ }
- int _tests_run; ///< The number of individual unit tests run
- int _tests_failed; ///< The number of unit tests which failed
- int _tests_passed; ///< The number of unit tests which passed
- int _assertions; ///< Total number of assertions tested by all unit tests
+ int _tests_run{0}; ///< The number of individual unit tests run
+ int _tests_failed{0}; ///< The number of unit tests which failed
+ int _tests_passed{0}; ///< The number of unit tests which passed
+ int _assertions{0}; ///< Total number of assertions tested by all unit tests
};
#endif /* UNIT_TEST_H_ */
diff --git a/src/lib/rc/rc_tests/RCTest.cpp b/src/lib/rc/rc_tests/RCTest.cpp
index d0ea23478e1635d61bee75d3f20177ee0863889e..cff76b42e675603b5e1ec3451615aa3b07353cca 100644
--- a/src/lib/rc/rc_tests/RCTest.cpp
+++ b/src/lib/rc/rc_tests/RCTest.cpp
@@ -1,4 +1,4 @@
-#include <unit_test/unit_test.h>
+#include <unit_test.h>
#include <systemlib/err.h>
diff --git a/src/modules/commander/commander_tests/state_machine_helper_test.cpp b/src/modules/commander/commander_tests/state_machine_helper_test.cpp
index f69842c51793ded7e0c9abf6ada8826b92afddb1..86c43f985df9771806bce06c3951367bf6e6de1b 100644
--- a/src/modules/commander/commander_tests/state_machine_helper_test.cpp
+++ b/src/modules/commander/commander_tests/state_machine_helper_test.cpp
@@ -41,7 +41,7 @@
#include "state_machine_helper_test.h"
#include "../state_machine_helper.h"
-#include <unit_test/unit_test.h>
+#include <unit_test.h>
class StateMachineHelperTest : public UnitTest
{
diff --git a/src/modules/mavlink/mavlink_tests/mavlink_ftp_test.h b/src/modules/mavlink/mavlink_tests/mavlink_ftp_test.h
index 7708d2a630355acf01e060812d9624f07230e2b2..58a41ae25d25cc560422bac9c12f4d2193b1e335 100644
--- a/src/modules/mavlink/mavlink_tests/mavlink_ftp_test.h
+++ b/src/modules/mavlink/mavlink_tests/mavlink_ftp_test.h
@@ -36,7 +36,7 @@
#pragma once
-#include <unit_test/unit_test.h>
+#include <unit_test.h>
#include "../mavlink_bridge_header.h"
#include "../mavlink_ftp.h"
diff --git a/src/modules/mc_pos_control/mc_pos_control_tests/mc_pos_control_tests.cpp b/src/modules/mc_pos_control/mc_pos_control_tests/mc_pos_control_tests.cpp
index 26532976172cd551ee576058b08dc42118ec1017..df297e51f8c17845310fbc27e999e9e826601ba6 100644
--- a/src/modules/mc_pos_control/mc_pos_control_tests/mc_pos_control_tests.cpp
+++ b/src/modules/mc_pos_control/mc_pos_control_tests/mc_pos_control_tests.cpp
@@ -40,7 +40,7 @@
*/
#include <systemlib/err.h>
-#include <unit_test/unit_test.h>
+#include <unit_test.h>
#include <mathlib/mathlib.h>
extern "C" __EXPORT int mc_pos_control_tests_main(int argc, char *argv[]);
diff --git a/src/modules/unit_test/CMakeLists.txt b/src/modules/unit_test/CMakeLists.txt
deleted file mode 100644
index c3b1fbbb032f25766c2f078370bfe68ce56a146b..0000000000000000000000000000000000000000
--- a/src/modules/unit_test/CMakeLists.txt
+++ /dev/null
@@ -1,41 +0,0 @@
-############################################################################
-#
-# Copyright (c) 2015 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.
-#
-############################################################################
-px4_add_module(
- MODULE modules__unit_test
- COMPILE_FLAGS
- SRCS
- unit_test.cpp
- DEPENDS
- platforms__common
- )
-# vim: set noet ft=cmake fenc=utf-8 ff=unix :
diff --git a/src/modules/unit_test/unit_test.cpp b/src/modules/unit_test/unit_test.cpp
deleted file mode 100644
index e3f40359b240e914eb03260144c5385e613bf429..0000000000000000000000000000000000000000
--- a/src/modules/unit_test/unit_test.cpp
+++ /dev/null
@@ -1,76 +0,0 @@
-/****************************************************************************
- *
- * Copyright (C) 2013 PX4 Development Team. All rights reserved.
- * Author: Simon Wilks <sjwilks@gmail.com>
- *
- * 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 "unit_test.h"
-
-#include <systemlib/err.h>
-
-UnitTest::UnitTest() :
- _tests_run(0),
- _tests_failed(0),
- _tests_passed(0),
- _assertions(0)
-{
-}
-
-UnitTest::~UnitTest()
-{
-}
-
-void UnitTest::print_results()
-{
- if (_tests_failed) {
- PX4_ERR("SOME TESTS FAILED");
-
- } else {
- PX4_INFO("ALL TESTS PASSED");
- }
-
- PX4_INFO(" Tests passed : %d", _tests_passed);
- PX4_INFO(" Tests failed : %d", _tests_failed);
- PX4_INFO(" Tested assertions : %d", _assertions);
-}
-
-/// @brief Used internally to the ut_assert macro to print assert failures.
-void UnitTest::_print_assert(const char *msg, const char *test, const char *file, int line)
-{
- PX4_ERR("Assertion failed: %s - %s (%s:%d)", msg, test, file, line);
-}
-
-/// @brief Used internally to the ut_compare macro to print assert failures.
-void UnitTest::_print_compare(const char *msg, const char *v1_text, int v1, const char *v2_text, int v2,
- const char *file, int line)
-{
- PX4_ERR("Compare failed: %s - (%s:%d) (%s:%d) (%s:%d)", msg, v1_text, v1, v2_text, v2, file, line);
-}
diff --git a/src/systemcmds/tests/test_autodeclination.cpp b/src/systemcmds/tests/test_autodeclination.cpp
index 309cd7a858116ed8a62f555b0c011ed1cdd429a7..b39471954b8d2b99c9fe2a212ea08570e3130891 100644
--- a/src/systemcmds/tests/test_autodeclination.cpp
+++ b/src/systemcmds/tests/test_autodeclination.cpp
@@ -1,4 +1,4 @@
-#include <unit_test/unit_test.h>
+#include <unit_test.h>
#include <drivers/drv_hrt.h>
#include <geo/geo.h>
diff --git a/src/systemcmds/tests/test_conv.cpp b/src/systemcmds/tests/test_conv.cpp
index fae383c622118addd5424e9ba9d3128a7970fd7b..9a47a5aeae53e60c27ee1b1a67955a8706096118 100644
--- a/src/systemcmds/tests/test_conv.cpp
+++ b/src/systemcmds/tests/test_conv.cpp
@@ -51,7 +51,7 @@
#include <math.h>
#include <float.h>
-#include <unit_test/unit_test.h>
+#include <unit_test.h>
#include <px4iofirmware/protocol.h>
int test_conv(int argc, char *argv[])
diff --git a/src/systemcmds/tests/test_float.cpp b/src/systemcmds/tests/test_float.cpp
index 50b5854d7d217d625c2acd46f2ae0ed8a167e81a..bc67cf5b9bcb4551cc3c6031b3ba3e5fffb2d3c6 100644
--- a/src/systemcmds/tests/test_float.cpp
+++ b/src/systemcmds/tests/test_float.cpp
@@ -1,4 +1,4 @@
-#include <unit_test/unit_test.h>
+#include <unit_test.h>
#include <px4_config.h>
#include <cfloat>
diff --git a/src/systemcmds/tests/test_hysteresis.cpp b/src/systemcmds/tests/test_hysteresis.cpp
index 1f53c256863ebf3359d8951588720f877e583214..8569a17b45048aff632af9fb28ef4da6961703db 100644
--- a/src/systemcmds/tests/test_hysteresis.cpp
+++ b/src/systemcmds/tests/test_hysteresis.cpp
@@ -1,4 +1,4 @@
-#include <unit_test/unit_test.h>
+#include <unit_test.h>
#include <systemlib/hysteresis/hysteresis.h>
diff --git a/src/systemcmds/tests/test_int.cpp b/src/systemcmds/tests/test_int.cpp
index 026cc601115b241e48d554cc58877c64e2b4fd96..f24a297dce6bd03ee1fa74e70625e75eb0251a08 100644
--- a/src/systemcmds/tests/test_int.cpp
+++ b/src/systemcmds/tests/test_int.cpp
@@ -1,4 +1,4 @@
-#include <unit_test/unit_test.h>
+#include <unit_test.h>
#include <errno.h>
#include <fcntl.h>
diff --git a/src/systemcmds/tests/test_mathlib.cpp b/src/systemcmds/tests/test_mathlib.cpp
index 422369c74396483459a3b0f39bc1de877a05eef5..b43cfa30d3c11f274df408a36222e8e4d5ac6198 100644
--- a/src/systemcmds/tests/test_mathlib.cpp
+++ b/src/systemcmds/tests/test_mathlib.cpp
@@ -31,7 +31,7 @@
*
****************************************************************************/
-#include <unit_test/unit_test.h>
+#include <unit_test.h>
#include <errno.h>
#include <fcntl.h>
diff --git a/src/systemcmds/tests/test_matrix.cpp b/src/systemcmds/tests/test_matrix.cpp
index 5285591f04ffc1751d030b8133b7c7f6173092bf..59f5f26048533dbad79fccba1e1d1e55db817616 100644
--- a/src/systemcmds/tests/test_matrix.cpp
+++ b/src/systemcmds/tests/test_matrix.cpp
@@ -1,5 +1,5 @@
-#include <unit_test/unit_test.h>
+#include <unit_test.h>
#include <matrix/math.hpp>
#include <matrix/filter.hpp>
diff --git a/src/systemcmds/tests/test_mixer.cpp b/src/systemcmds/tests/test_mixer.cpp
index 772b37cc5f6c86807f902497a88d988310949648..04f228018ff4bbea63297c2afa9ae59f996d93e5 100644
--- a/src/systemcmds/tests/test_mixer.cpp
+++ b/src/systemcmds/tests/test_mixer.cpp
@@ -64,7 +64,7 @@
#include "tests_main.h"
-#include <unit_test/unit_test.h>
+#include <unit_test.h>
static int mixer_callback(uintptr_t handle,
uint8_t control_group,
diff --git a/src/systemcmds/tests/test_parameters.cpp b/src/systemcmds/tests/test_parameters.cpp
index 4e9dc2bf87cde81937c5e72852243e3a142b713b..36a42f666f0d7f6a15cc4f21d1e82b2257a934c7 100644
--- a/src/systemcmds/tests/test_parameters.cpp
+++ b/src/systemcmds/tests/test_parameters.cpp
@@ -1,4 +1,4 @@
-#include <unit_test/unit_test.h>
+#include <unit_test.h>
class ParameterTest : public UnitTest
{