move mixer_test and conversion_test to gtest

unittests/CMakeLists.txt

@@ -11,16 +11,35 @@ include_directories(${CMAKE_SOURCE_DIR}/../src/modules)
 include_directories(${CMAKE_SOURCE_DIR}/../src/lib)
 
 add_definitions(-D__EXPORT=)
+set(CMAKE_C_FLAGS "-std=c99")
+set(CMAKE_CXX_FLAGS "-std=c++11 -Wno-write-strings")
 
 function(add_gtest)
   foreach(test_name ${ARGN})
     target_link_libraries(${test_name} gtest_main)
-    add_test(${test_name}Test ${test_name})
+    add_test(${test_name} ${test_name})
   endforeach()
 endfunction()
 
 
 # add each test
-# todo: add  mixer_test sbus2_test st24_test sf0x_test
+# todo: add sbus2_test st24_test sf0x_test
 add_executable(autodeclination_test autodeclination_test.cpp ${CMAKE_SOURCE_DIR}/../src/lib/geo_lookup/geo_mag_declination.c)
 add_gtest(autodeclination_test)
+
+
+# mixer_test
+add_executable(mixer_test mixer_test.cpp hrt.cpp
+                          ${CMAKE_SOURCE_DIR}/../src/modules/systemlib/mixer/mixer.cpp
+                          ${CMAKE_SOURCE_DIR}/../src/modules/systemlib/mixer/mixer_group.cpp
+                          ${CMAKE_SOURCE_DIR}/../src/modules/systemlib/mixer/mixer_load.c
+                          ${CMAKE_SOURCE_DIR}/../src/modules/systemlib/mixer/mixer_multirotor.cpp
+                          ${CMAKE_SOURCE_DIR}/../src/modules/systemlib/mixer/mixer_simple.cpp
+                          ${CMAKE_SOURCE_DIR}/../src/modules/systemlib/pwm_limit/pwm_limit.c
+                          ${CMAKE_SOURCE_DIR}/../src/systemcmds/tests/test_mixer.cpp)
+add_gtest(mixer_test)
+
+# conversion_test
+add_executable(conversion_test conversion_test.cpp
+	                       ${CMAKE_SOURCE_DIR}/../src/systemcmds/tests/test_conv.cpp)
+add_gtest(conversion_test)

unittests/Makefile

@@ -40,18 +40,7 @@ gtest_main.a: gtest-all.o gtest_main.o
 	$(AR) $(ARFLAGS) $@ $^
 
 
-all: mixer_test sbus2_test st24_test sf0x_test
-
-MIXER_FILES=../src/systemcmds/tests/test_mixer.cpp \
-		../src/systemcmds/tests/test_conv.cpp \
-		../src/modules/systemlib/mixer/mixer_simple.cpp \
-		../src/modules/systemlib/mixer/mixer_multirotor.cpp \
-		../src/modules/systemlib/mixer/mixer.cpp \
-		../src/modules/systemlib/mixer/mixer_group.cpp \
-		../src/modules/systemlib/mixer/mixer_load.c \
-		../src/modules/systemlib/pwm_limit/pwm_limit.c \
-		hrt.cpp \
-		mixer_test.cpp
+all: sbus2_test st24_test sf0x_test
 
 SBUS2_FILES=../src/modules/px4iofirmware/sbus.c \
 		hrt.cpp \
@@ -66,9 +55,6 @@ SF0X_FILES= \
 		sf0x_test.cpp \
 		../src/drivers/sf0x/sf0x_parser.cpp
 
-mixer_test: $(MIXER_FILES)
-	$(CC) -o mixer_test $(MIXER_FILES) $(CFLAGS)
-
 sbus2_test: $(SBUS2_FILES)
 	$(CC) -o sbus2_test $(SBUS2_FILES) $(CFLAGS)
 
@@ -82,12 +68,11 @@ cmake_gtests:
 	mkdir -p build
 	cd build && CC=gcc cmake .. && $(MAKE) && $(MAKE) test
 
-unittests: clean mixer_test sbus2_test sf0x_test st24_test cmake_gtests
-	./mixer_test
+unittests: clean sbus2_test sf0x_test st24_test cmake_gtests
 	./sbus2_test
 	./sf0x_test
 	./st24_test
 
 .PHONY: clean
 clean:
-	rm -rf gtest.a gtest_main.a *.o $(ODIR)/*.o *~ core $(INCDIR)/*~ sample_unittest mixer_test sbus2_test st24_test sf0x_test build
+	rm -rf gtest.a gtest_main.a *.o $(ODIR)/*.o *~ core $(INCDIR)/*~ sample_unittest sbus2_test st24_test sf0x_test build

unittests/conversion_test.cpp

@@ -0,0 +1,9 @@
+#include <systemlib/mixer/mixer.h>
+#include <systemlib/err.h>
+#include "../../src/systemcmds/tests/tests.h"
+
+#include "gtest/gtest.h"
+
+TEST(ConversionTest, FMU_quad_w) {
+        ASSERT_EQ(test_conv(0, NULL), 0) << "Conversion test failed";
+}

unittests/mixer_test.cpp

@@ -2,18 +2,15 @@
 #include <systemlib/err.h>
 #include "../../src/systemcmds/tests/tests.h"
 
-int main(int argc, char *argv[]) {
+#include "gtest/gtest.h"
 
-	int ret;
 
-	warnx("Host execution started");
-
-	char* args[] = {argv[0], "../ROMFS/px4fmu_common/mixers/IO_pass.mix",
-				 "../ROMFS/px4fmu_common/mixers/FMU_quad_w.mix"};
-
-	if (ret = test_mixer(3, args));
-
-	test_conv(1, args);
+TEST(MixerTest, IO_pass) {
+	char* args[] = {"mixer", "../../ROMFS/px4fmu_common/mixers/IO_pass.mix"};
+	ASSERT_EQ(test_mixer(2, args), 0) << "IO_pass.mix failed";
+}
 
-	return 0;
+TEST(MixerTest, FMU_quad_w) {
+        char* args[] = {"mixer", "../../ROMFS/px4fmu_common/mixers/FMU_quad_w.mix"};
+        ASSERT_EQ(test_mixer(2, args), 0) << "FMU_quad_w.mix failed";
 }