You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
180 lines
7.0 KiB
180 lines
7.0 KiB
cmake_minimum_required(VERSION 2.8) |
|
|
|
include(CMakeForceCompiler) |
|
#CMAKE_FORCE_C_COMPILER(clang Clang) |
|
#CMAKE_FORCE_CXX_COMPILER(clang++ Clang) |
|
|
|
if("${CMAKE_C_COMPILER_ID}" STREQUAL "Clang") |
|
add_compile_options(-Qunused-arguments ) |
|
endif() |
|
if("${CMAKE_CXX_COMPILER_ID}" STREQUAL "Clang") |
|
add_compile_options(-Qunused-arguments) |
|
endif() |
|
|
|
project(unittests) |
|
enable_testing() |
|
|
|
include(CheckCXXCompilerFlag) |
|
CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11) |
|
CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X) |
|
|
|
if(COMPILER_SUPPORTS_CXX11) |
|
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -fno-exceptions -fno-rtti -fno-threadsafe-statics -D__CUSTOM_FILE_IO__ -D__PX4_UNIT_TESTS -g -Wall -Werror") |
|
elseif(COMPILER_SUPPORTS_CXX0X) |
|
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x -fno-exceptions -fno-rtti -fno-threadsafe-statics -D__CUSTOM_FILE_IO__ -D__PX4_UNIT_TESTS -g -Wall -Werror") |
|
else() |
|
message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.") |
|
endif() |
|
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -std=gnu99 -g") |
|
|
|
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -g3 -fsanitize=address -fno-omit-frame-pointer") |
|
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-sign-compare -Wno-unused-but-set-variable") |
|
|
|
set(GTEST_DIR ${CMAKE_SOURCE_DIR}/googletest) |
|
add_subdirectory(${GTEST_DIR}) |
|
include_directories(${GTEST_DIR}/include) |
|
|
|
set(PX4_SRC ${CMAKE_SOURCE_DIR}/../src) |
|
set(PX4_SITL_BUILD ${PX4_SRC}/../build_posix_sitl_test) |
|
|
|
include_directories(${CMAKE_SOURCE_DIR}) |
|
include_directories(${PX4_SITL_BUILD}/src) |
|
include_directories(${PX4_SITL_BUILD}/src/modules) |
|
include_directories(${PX4_SITL_BUILD}/src/modules/param) |
|
include_directories(${PX4_SITL_BUILD}/src/modules/uORB) |
|
include_directories(${PX4_SRC}) |
|
include_directories(${PX4_SRC}/drivers) |
|
include_directories(${PX4_SRC}/drivers/device) |
|
include_directories(${PX4_SRC}/lib) |
|
include_directories(${PX4_SRC}/lib/DriverFramework/framework/include) |
|
include_directories(${PX4_SRC}/modules) |
|
include_directories(${PX4_SRC}/modules/uORB) |
|
include_directories(${PX4_SRC}/platforms) |
|
include_directories(${PX4_SRC}/platforms/posix/include) |
|
include_directories(${PX4_SRC}/platforms/posix/px4_layer) |
|
|
|
add_definitions(-D__EXPORT=) |
|
add_definitions(-D__PX4_POSIX) |
|
add_definitions(-D__PX4_TESTS) |
|
add_definitions(-D_UNIT_TEST=) |
|
add_definitions(-DERROR=-1) |
|
add_definitions(-Dmain_t=int) |
|
add_definitions(-Dnoreturn_function=) |
|
add_definitions(-DOK=0) |
|
|
|
# check |
|
add_custom_target(check |
|
COMMAND ${CMAKE_CTEST_COMMAND} -j2 --output-on-failure |
|
WORKING_DIR ${CMAKE_BINARY_DIR} |
|
USES_TERMINAL) |
|
|
|
function(add_gtest) |
|
foreach(test_name ${ARGN}) |
|
if(${CMAKE_SYSTEM_NAME} MATCHES "Darwin") |
|
target_link_libraries(${test_name} gtest_main pthread px4_platform) |
|
add_definitions(-D__PX4_DARWIN) |
|
else() |
|
target_link_libraries(${test_name} gtest_main pthread rt px4_platform) |
|
add_definitions(-D__PX4_LINUX) |
|
endif() |
|
add_test(NAME ${test_name} COMMAND ${test_name} WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}) |
|
add_dependencies(check ${test_name}) |
|
endforeach() |
|
endfunction() |
|
|
|
add_library(px4_platform |
|
${PX4_SITL_BUILD}/src/modules/param/px4_parameters.c |
|
${PX4_SRC}/drivers/device/device_posix.cpp |
|
${PX4_SRC}/drivers/device/i2c_posix.cpp |
|
${PX4_SRC}/drivers/device/ringbuffer.cpp |
|
${PX4_SRC}/drivers/device/sim.cpp |
|
${PX4_SRC}/drivers/device/vdev.cpp |
|
${PX4_SRC}/drivers/device/vdev_posix.cpp |
|
${PX4_SRC}/drivers/device/vfile.cpp |
|
${PX4_SRC}/platforms/posix/px4_layer/drv_hrt.c |
|
${PX4_SRC}/platforms/posix/px4_layer/lib_crc32.c |
|
${PX4_SRC}/platforms/posix/px4_layer/px4_log.c |
|
${PX4_SRC}/platforms/posix/px4_layer/px4_log.c |
|
${PX4_SRC}/platforms/posix/px4_layer/px4_posix_impl.cpp |
|
${PX4_SRC}/platforms/posix/px4_layer/px4_posix_tasks.cpp |
|
${PX4_SRC}/platforms/posix/px4_layer/px4_sem.cpp |
|
${PX4_SRC}/platforms/posix/work_queue/dq_addlast.c |
|
${PX4_SRC}/platforms/posix/work_queue/dq_rem.c |
|
${PX4_SRC}/platforms/posix/work_queue/dq_remfirst.c |
|
${PX4_SRC}/platforms/posix/work_queue/hrt_queue.c |
|
${PX4_SRC}/platforms/posix/work_queue/hrt_thread.c |
|
${PX4_SRC}/platforms/posix/work_queue/hrt_work_cancel.c |
|
${PX4_SRC}/platforms/posix/work_queue/queue.c |
|
${PX4_SRC}/platforms/posix/work_queue/sq_addafter.c |
|
${PX4_SRC}/platforms/posix/work_queue/sq_addlast.c |
|
${PX4_SRC}/platforms/posix/work_queue/sq_remfirst.c |
|
${PX4_SRC}/platforms/posix/work_queue/work_cancel.c |
|
${PX4_SRC}/platforms/posix/work_queue/work_lock.c |
|
${PX4_SRC}/platforms/posix/work_queue/work_queue.c |
|
${PX4_SRC}/platforms/posix/work_queue/work_thread.c |
|
) |
|
target_include_directories(px4_platform PUBLIC ${PX4_SRC}/platforms) |
|
|
|
|
|
####################################################################### |
|
# TESTS |
|
####################################################################### |
|
# add_executable(example_test example_test.cpp) |
|
# add_gtest(example_test) |
|
|
|
|
|
# autodeclination_test |
|
add_executable(autodeclination_test autodeclination_test.cpp ${PX4_SRC}/lib/geo_lookup/geo_mag_declination.c) |
|
add_gtest(autodeclination_test) |
|
|
|
# mixer_test |
|
add_custom_command(OUTPUT ${PX4_SRC}/modules/systemlib/mixer/mixer_multirotor.generated.h |
|
COMMAND ${PX4_SRC}/modules/systemlib/mixer/multi_tables.py > ${PX4_SRC}/modules/systemlib/mixer/mixer_multirotor.generated.h) |
|
add_executable(mixer_test mixer_test.cpp |
|
${PX4_SRC}/modules/systemlib/mixer/mixer.cpp |
|
${PX4_SRC}/modules/systemlib/mixer/mixer_group.cpp |
|
${PX4_SRC}/modules/systemlib/mixer/mixer_load.c |
|
${PX4_SRC}/modules/systemlib/mixer/mixer_multirotor.cpp |
|
${PX4_SRC}/modules/systemlib/mixer/mixer_multirotor.generated.h |
|
${PX4_SRC}/modules/systemlib/mixer/mixer_simple.cpp |
|
${PX4_SRC}/modules/systemlib/pwm_limit/pwm_limit.c |
|
${PX4_SRC}/systemcmds/tests/test_mixer.cpp) |
|
add_gtest(mixer_test) |
|
|
|
# conversion_test |
|
add_executable(conversion_test conversion_test.cpp ${PX4_SRC}/systemcmds/tests/test_conv.cpp) |
|
add_gtest(conversion_test) |
|
|
|
# sbus2_test |
|
add_executable(sbus2_test sbus2_test.cpp |
|
${PX4_SRC}/lib/rc/sbus.c) |
|
add_gtest(sbus2_test) |
|
|
|
# DSM test |
|
add_executable(dsm_test dsm_test.cpp |
|
${PX4_SRC}/lib/rc/dsm.c) |
|
add_gtest(dsm_test) |
|
|
|
# st24_test |
|
add_executable(rc_input_test st24_test.cpp sumd_test.cpp |
|
${PX4_SRC}/lib/rc/st24.c |
|
${PX4_SRC}/lib/rc/sumd.c) |
|
add_gtest(rc_input_test) |
|
|
|
# sf0x_test |
|
add_executable(sf0x_test sf0x_test.cpp |
|
${PX4_SRC}/drivers/sf0x/sf0x_parser.cpp) |
|
add_gtest(sf0x_test) |
|
|
|
# param_test |
|
add_executable(param_test param_test.cpp uorb_stub.cpp |
|
${PX4_SRC}/modules/systemlib/bson/tinybson.c |
|
${PX4_SRC}/modules/systemlib/param/param.c) |
|
target_link_libraries(param_test ${PX4_SITL_BUILD}/libmsg_gen.a) |
|
add_gtest(param_test) |
|
|
|
# param_shmem_test |
|
#add_executable(param_shmem_test param_test.cpp uorb_stub.cpp |
|
# ${PX4_SRC}/modules/systemlib/bson/tinybson.c |
|
# ${PX4_SRC}/modules/systemlib/param/param_shmem.c) |
|
#add_gtest(param_shmem_test)
|
|
|