wip tests

CMakeLists.txt

@@ -15,6 +15,7 @@ set(CATKIN_DEPENDENCIES
   tf2
   tf2_ros
   tf2_geometry_msgs
+  mrs_uav_testing
   )
 
 find_package(catkin REQUIRED COMPONENTS

package.xml

@@ -26,6 +26,9 @@
   <depend>tf2_ros</depend>
   <depend>tf2_geometry_msgs</depend>
   <depend>rostest</depend>
+  <depend>mrs_uav_testing</depend>
+
+  <test_depend>mrs_uav_gazebo_simulation</test_depend>
 
   <export>
     <nodelet plugin="${prefix}/nodelets.xml" />

test/CMakeLists.txt

@@ -1,127 +1,3 @@
 find_package(rostest REQUIRED)
 
-# takeoff test
-
-add_rostest_gtest(MrsUavManagers_UavManagerTakeoffTest
-  uav_manager/takeoff/uav_manager_takeoff.test
-  uav_manager/takeoff/takeoff_test.cpp
-  )
-
-target_link_libraries(
-  MrsUavManagers_UavManagerTakeoffTest
-  ${catkin_LIBRARIES}
-  )
-
-add_dependencies(
-  MrsUavManagers_UavManagerTakeoffTest
-  ${${PROJECT_NAME}_EXPORTED_TARGETS}
-  ${catkin_EXPORTED_TARGETS}
-  )
-
-# landing test
-
-add_rostest_gtest(MrsUavManagers_UavManagerLandingTest
-  uav_manager/landing/uav_manager_landing.test
-  uav_manager/landing/landing_test.cpp
-  )
-
-target_link_libraries(
-  MrsUavManagers_UavManagerLandingTest
-  ${catkin_LIBRARIES}
-  )
-
-add_dependencies(
-  MrsUavManagers_UavManagerLandingTest
-  ${${PROJECT_NAME}_EXPORTED_TARGETS}
-  ${catkin_EXPORTED_TARGETS}
-  )
-
-# goto service test
-
-add_rostest_gtest(MrsUavManagers_ControlManagerGotoServiceTest
-  control_manager/goto_service/control_manager_goto_service.test
-  control_manager/goto_service/goto_service_test.cpp
-  )
-
-target_link_libraries(
-  MrsUavManagers_ControlManagerGotoServiceTest
-  ${catkin_LIBRARIES}
-  )
-
-add_dependencies(
-  MrsUavManagers_ControlManagerGotoServiceTest
-  ${${PROJECT_NAME}_EXPORTED_TARGETS}
-  ${catkin_EXPORTED_TARGETS}
-  )
-
-# eland innovation test
-
-add_rostest_gtest(MrsUavManagers_ControlManagerElandInnovationTest
-  control_manager/eland_innovation/control_manager_eland_innovation.test
-  control_manager/eland_innovation/eland_innovation_test.cpp
-  )
-
-target_link_libraries(
-  MrsUavManagers_ControlManagerElandInnovationTest
-  ${catkin_LIBRARIES}
-  )
-
-add_dependencies(
-  MrsUavManagers_ControlManagerElandInnovationTest
-  ${${PROJECT_NAME}_EXPORTED_TARGETS}
-  ${catkin_EXPORTED_TARGETS}
-  )
-
-# eland controlerror test
-
-add_rostest_gtest(MrsUavManagers_ControlManagerElandControlErrorTest
-  control_manager/eland_control_error/control_manager_eland_control_error.test
-  control_manager/eland_control_error/eland_control_error_test.cpp
-  )
-
-target_link_libraries(
-  MrsUavManagers_ControlManagerElandControlErrorTest
-  ${catkin_LIBRARIES}
-  )
-
-add_dependencies(
-  MrsUavManagers_ControlManagerElandControlErrorTest
-  ${${PROJECT_NAME}_EXPORTED_TARGETS}
-  ${catkin_EXPORTED_TARGETS}
-  )
-
-# failsafe controlerror test
-
-add_rostest_gtest(MrsUavManagers_ControlManagerFailsafeControlErrorTest
-  control_manager/failsafe_control_error/control_manager_failsafe_control_error.test
-  control_manager/failsafe_control_error/failsafe_control_error_test.cpp
-  )
-
-target_link_libraries(
-  MrsUavManagers_ControlManagerFailsafeControlErrorTest
-  ${catkin_LIBRARIES}
-  )
-
-add_dependencies(
-  MrsUavManagers_ControlManagerFailsafeControlErrorTest
-  ${${PROJECT_NAME}_EXPORTED_TARGETS}
-  ${catkin_EXPORTED_TARGETS}
-  )
-
-# eland service test
-
-add_rostest_gtest(MrsUavManagers_ControlManagerElandServiceTest
-  control_manager/eland_service/control_manager_eland_service.test
-  control_manager/eland_service/eland_service_test.cpp
-  )
-
-target_link_libraries(
-  MrsUavManagers_ControlManagerElandServiceTest
-  ${catkin_LIBRARIES}
-  )
-
-add_dependencies(
-  MrsUavManagers_ControlManagerElandServiceTest
-  ${${PROJECT_NAME}_EXPORTED_TARGETS}
-  ${catkin_EXPORTED_TARGETS}
-  )
+add_subdirectory(control_manager)

test/all_tests.sh

@@ -5,31 +5,30 @@ set -e
 trap 'last_command=$current_command; current_command=$BASH_COMMAND' DEBUG
 trap 'echo "$0: \"${last_command}\" command failed with exit code $?"' ERR
 
-PACKAGE="mrs_uav_managers"
-VERBOSE=1
-
-[ "$VERBOSE" = "0" ] && TEXT_OUTPUT=""
-[ "$VERBOSE" = "1" ] && TEXT_OUTPUT="-t"
-
-# build the package
-catkin build $PACKAGE # it has to be fully built normally before building with --catkin-make-args tests
-catkin build $PACKAGE --no-deps --catkin-make-args tests
-
-TEST_FILES=$(find . -name "*.test" -type f -printf "%f\n")
+ORIGINAL_PATH=`pwd`
+
+while [ ! -e ".catkin_tools" ]; do
+  cd ..
+  if [[ `pwd` == "/" ]]; then
+    # we reached the root and didn't find the build/COLCON_IGNORE file - that's a fail!
+    echo "$0: could not find the root of the current workspace".
+    return 1
+  fi
+done
 
-for TEST_FILE in `echo $TEST_FILES`; do
+cd build
 
-  echo "$0: running test '$TEST_FILE'"
+OLD_FILES=$(find . -name "*.gcda")
 
-  # folder for test results
-  TEST_RESULT_PATH=$(realpath /tmp/$RANDOM)
-  mkdir -p $TEST_RESULT_PATH
+for FILE in $OLD_FILES; do
+  echo "$0: removing old coverage file '$FILE'"
+  rm $FILE
+done
 
-  # run the test
-  rostest $PACKAGE $TEST_FILE $TEXT_OUTPUT --results-filename=$PACKAGE.test --results-base-dir="$TEST_RESULT_PATH"
+cd $ORIGINAL_PATH
 
-  # evaluate the test results
-  echo test result path is $TEST_RESULT_PATH
-  catkin_test_results "$TEST_RESULT_PATH"
+# build the package
+catkin build --this # it has to be fully built normally before building with --catkin-make-args tests
+catkin build --this --no-deps --catkin-make-args tests
 
-done
+catkin test --this -i -p 1 -s

test/control_manager/CMakeLists.txt

@@ -0,0 +1 @@
+add_subdirectory(goto_service)

test/control_manager/goto_service/CMakeLists.txt

@@ -0,0 +1,21 @@
+get_filename_component(TEST_NAME "${CMAKE_CURRENT_SOURCE_DIR}" NAME)
+
+catkin_add_executable_with_gtest(test_${TEST_NAME}
+  test.cpp
+  )
+
+target_link_libraries(test_${TEST_NAME}
+  ${catkin_LIBRARIES}
+  )
+
+add_dependencies(test_${TEST_NAME}
+  ${${PROJECT_NAME}_EXPORTED_TARGETS}
+  ${catkin_EXPORTED_TARGETS}
+  )
+
+add_rostest(${TEST_NAME}.test
+  ARGS
+  test_path:=${CMAKE_CURRENT_SOURCE_DIR}
+  package_name:=${PROJECT_NAME}
+  test_name:=${TEST_NAME}
+  )

test/control_manager/goto_service/goto_service.test

@@ -0,0 +1,30 @@
+<launch>
+
+  <arg name="UAV_NAME" default="uav1" />
+  <arg name="UAV_TYPE" default="x500" />
+
+  <!-- these will be filled in from the CMakeLists -->
+  <arg name="test_path" default="" />
+  <arg name="test_name" default="" />
+  <arg name="package_name" default="" />
+
+  <include file="$(find mrs_uav_testing)/launch/mrs_simulator.launch">
+    <arg name="UAV_NAME" default="$(arg UAV_NAME)" />
+  </include>
+
+  <include file="$(find mrs_multirotor_simulator)/launch/hw_api.launch">
+    <arg name="UAV_NAME" default="$(arg UAV_NAME)" />
+  </include>
+
+  <include file="$(find mrs_uav_testing)/launch/mrs_uav_system.launch">
+    <arg name="automatic_start" default="false" />
+    <arg name="platform_config" default="$(find mrs_multirotor_simulator)/config/mrs_uav_system/$(arg UAV_TYPE).yaml" />
+    <arg name="UAV_NAME" default="$(arg UAV_NAME)" />
+  </include>
+
+  <test pkg="$(arg package_name)" type="test_$(arg test_name)" test-name="$(arg test_name)" time-limit="60.0">
+    <param name="test_name" value="$(arg test_name)" />
+    <param name="uav_name" value="$(arg UAV_NAME)" />
+  </test>
+
+</launch>