#=============================================================================
# tests
#

# TODO: find a way to keep this in sync with tests_main
set(tests
	autodeclination
	bson
	commander
	controllib
	conv
	ctlmath
	dataman
	file2
	float
	hrt
	hysteresis
	int
	mathlib
	matrix
	microbench_hrt
	microbench_math
	microbench_matrix
	microbench_uorb
	mixer
	param
	parameters
	perf
	rc
	servo
	sf0x
	sleep
	uorb
	versioning
	)

if (${CMAKE_SYSTEM_NAME} MATCHES "Darwin")
	list(REMOVE_ITEM tests
		hysteresis
		mixer
		uorb
	)
endif()

if (CMAKE_SYSTEM_NAME STREQUAL "CYGWIN")
	list(REMOVE_ITEM tests
		hysteresis # Intermittent timing fails.
		uorb
		shutdown # A mystery why it fails.
	)
endif()

foreach(test_name ${tests})
	configure_file(${PX4_SOURCE_DIR}/posix-configs/SITL/init/test/test_template.in ${PX4_SOURCE_DIR}/posix-configs/SITL/init/test/test_${test_name}_generated)

	add_test(NAME ${test_name}
		COMMAND ${PX4_SOURCE_DIR}/Tools/sitl_run.sh
			$<TARGET_FILE:px4>
			none
			none
			test_${test_name}_generated
			${PX4_SOURCE_DIR}
			${PX4_BINARY_DIR}
		WORKING_DIRECTORY ${SITL_WORKING_DIR})

	set_tests_properties(${test_name} PROPERTIES FAIL_REGULAR_EXPRESSION "${test_name} FAILED")
	set_tests_properties(${test_name} PROPERTIES PASS_REGULAR_EXPRESSION "${test_name} PASSED")

	sanitizer_fail_test_on_error(${test_name})
endforeach()


# Mavlink test requires mavlink running
add_test(NAME mavlink
	COMMAND ${PX4_SOURCE_DIR}/Tools/sitl_run.sh
		$<TARGET_FILE:px4>
		none
		none
		test_mavlink
		${PX4_SOURCE_DIR}
		${PX4_BINARY_DIR}
	WORKING_DIRECTORY ${SITL_WORKING_DIR})

set_tests_properties(mavlink PROPERTIES FAIL_REGULAR_EXPRESSION "mavlink FAILED")
set_tests_properties(mavlink PROPERTIES PASS_REGULAR_EXPRESSION "mavlink PASSED")
sanitizer_fail_test_on_error(mavlink)

# Shutdown test
add_test(NAME shutdown
	COMMAND ${PX4_SOURCE_DIR}/Tools/sitl_run.sh
		$<TARGET_FILE:px4>
		none
		none
		test_shutdown
		${PX4_SOURCE_DIR}
		${PX4_BINARY_DIR}
	WORKING_DIRECTORY ${SITL_WORKING_DIR})

#set_tests_properties(shutdown PROPERTIES FAIL_REGULAR_EXPRESSION "shutdown FAILED")
set_tests_properties(shutdown PROPERTIES PASS_REGULAR_EXPRESSION "Shutting down")
sanitizer_fail_test_on_error(shutdown)

# Dynamic module loading test
add_test(NAME dyn
	COMMAND ${PX4_SOURCE_DIR}/Tools/sitl_run.sh
		$<TARGET_FILE:px4>
		none
		none
		test_dyn_hello
		${PX4_SOURCE_DIR}
		${PX4_BINARY_DIR}
		$<TARGET_FILE:examples__dyn_hello>
	WORKING_DIRECTORY ${SITL_WORKING_DIR})
set_tests_properties(dyn PROPERTIES PASS_REGULAR_EXPRESSION "1: PASSED")
sanitizer_fail_test_on_error(dyn)

# run arbitrary commands
set(test_cmds
	hrt_test
	cdev_test
	wqueue_test
	)

foreach(cmd_name ${test_cmds})
	configure_file(${PX4_SOURCE_DIR}/posix-configs/SITL/init/test/cmd_template.in ${PX4_SOURCE_DIR}/posix-configs/SITL/init/test/cmd_${cmd_name}_generated)

	add_test(NAME posix_${cmd_name}
		COMMAND ${PX4_SOURCE_DIR}/Tools/sitl_run.sh
			$<TARGET_FILE:px4>
			none
			none
			cmd_${cmd_name}_generated
			${PX4_SOURCE_DIR}
			${PX4_BINARY_DIR}
		WORKING_DIRECTORY ${SITL_WORKING_DIR})

	sanitizer_fail_test_on_error(posix_${cmd_name})
	set_tests_properties(posix_${cmd_name} PROPERTIES PASS_REGULAR_EXPRESSION "Shutting down")
endforeach()


add_custom_target(test_results
		COMMAND ${CMAKE_CTEST_COMMAND} --output-on-failure -T Test
		DEPENDS
			px4
			examples__dyn_hello
		USES_TERMINAL
		COMMENT "Running tests in sitl"
		WORKING_DIRECTORY ${PX4_BINARY_DIR})
set_target_properties(test_results PROPERTIES EXCLUDE_FROM_ALL TRUE)

if (CMAKE_BUILD_TYPE STREQUAL Coverage)
	setup_target_for_coverage(test_coverage "${CMAKE_CTEST_COMMAND} --output-on-failure -T Test" tests)
	setup_target_for_coverage(generate_coverage "${CMAKE_COMMAND} -E echo" generic)
endif()

add_custom_target(test_results_junit
		COMMAND xsltproc ${PX4_SOURCE_DIR}/Tools/CTest2JUnit.xsl Testing/`head -n 1 < Testing/TAG`/Test.xml > JUnitTestResults.xml
		DEPENDS test_results
		COMMENT "Converting ctest output to junit xml"
		WORKING_DIRECTORY ${PX4_BINARY_DIR})
set_target_properties(test_results_junit PROPERTIES EXCLUDE_FROM_ALL TRUE)

add_custom_target(test_cdash_submit
		COMMAND ${CMAKE_CTEST_COMMAND} -D Experimental
		USES_TERMINAL
		WORKING_DIRECTORY ${PX4_BINARY_DIR})
set_target_properties(test_cdash_submit PROPERTIES EXCLUDE_FROM_ALL TRUE)