quad: add valgrind to CI

.gitlab-ci.yml

 image: ruby:2.3
 
 before_script:
-  - apt-get update -qq && apt-get install -y -qq libbluetooth-dev cmake
+  - apt-get update -qq && apt-get install -y -qq libbluetooth-dev cmake valgrind
 
 stages:
   - build

quad/Makefile

@@ -39,8 +39,8 @@ test: all
 	$(MAKE) -C src/computation_graph test
 	$(MAKE) -C src/quad_app test
 	ruby scripts/tests/test_safety_checks.rb
+	ruby scripts/tests/test_memory_integrity.rb
 	# ruby scripts/tests/test_unix_uart.rb
-	# ruby scripts/tests/run_virtual_test_flight.rb
 
 clean:
 	rm -rf $(INCDIR) $(LIBDIR) $(OUTDIR) $(EXEDIR)

quad/scripts/tests/test_memory_integrity.rb

+#!/usr/bin/env ruby
+
+# Test Flight
+#
+# A simple virtual test flight (take off, hover, and set back down)
+# with valgrind, in order to detect memory leaks
+
+script_dir = File.expand_path(File.dirname(__FILE__))
+require script_dir + "/testing_library"
+
+bin_dir = script_dir + "/../../bin/"
+Dir.chdir(bin_dir)
+
+puts("Firing up the quad...")
+
+# Start virtual quad
+quad = Process.spawn("valgrind --leak-check=full --log-file=./valgrind.out ./virt-quad")
+
+delay_spin_cursor(3)
+
+set_gear GEAR_OFF
+set_flap FLAP_ON
+
+##################
+#  Begin Flight!
+##################
+
+begin
+  puts("Starting flight...")
+
+  # Set initial quad orientation (flat on ground, facing forward)
+  `./virt-quad set i2c_imu_x 0`
+  `./virt-quad set i2c_imu_y 0`
+  `./virt-quad set i2c_imu_z -1`
+  `./virt-quad set rc_roll 0.498`
+  `./virt-quad set rc_pitch 0.497`
+  `./virt-quad set rc_yaw 0.498`
+
+  puts("Turning on GEAR...")
+  set_gear GEAR_ON
+  sleep 0.015
+
+  puts("Increasing Thrust to half maximum...")
+  for i in (THROTTLE_MIN..THROTTLE_MID).step(0.01)
+    set_throttle(i)
+    sleep 0.005
+  end
+
+  puts("Hovering for 5 seconds")
+  delay_spin_cursor(5)
+
+  puts("Switching to autonomous and hovering for 5 seconds")
+  set_flap FLAP_ON
+  delay_spin_cursor(5)
+
+  puts("Switch back to manual, relaxing thrust to zero")
+  set_flap FLAP_OFF
+  i = THROTTLE_MID
+  while i > THROTTLE_MIN
+    i -= 0.01
+    set_throttle(i)
+    sleep 0.005
+  end
+
+  puts("Swiching off GEAR...")
+  set_gear GEAR_OFF
+
+  # puts("Collecting logs...")
+  # msg = ""
+  # misses = 0
+  # fifo = File::open(UART_TX)
+  # while misses < 10
+  #   puts "trying..."
+  #   if fifo.eof?
+  #     misses += 1
+  #     next
+  #   end
+  #   msg += fifo.read()
+  # end
+  
+  # fifo.close()
+
+# puts msg
+
+  puts("Flight ended successfully.");
+ensure
+
+  Process.kill(2, quad)
+
+  sleep 1 # wait for valgrind to write to file
+
+  # Process the valgrind file
+  file = File.open("./valgrind.out")
+  everything = file.readlines
+  last_line = everything.last
+  errors = last_line.scanf("%s ERROR SUMMARY: %d errors %s")
+  if errors[1] > 0
+    puts everything
+    puts "Memory Integrity Check Failed."
+    Kernel.exit(1)
+  end
+
+  puts "Memory Integrity Check Passed."
+end
+

quad/scripts/tests/test_safety_checks.rb

@@ -83,7 +83,7 @@ Timeout::timeout(60) {
 
     puts("Check that motors turn on")
     set_throttle THROTTLE_MID
-    spinner = Thread.new { delay_spin_cursor(5) }
+    spinner = Thread.new { delay_spin_cursor(3) }
     motors = get_motor_averages(100, 3)
     spinner.exit
     p motors
@@ -92,7 +92,7 @@ Timeout::timeout(60) {
     puts("Check that when quad is tilted, motors respond correctly")
     puts("Tilting forwards...")
     `./virt-quad set i2c_imu_x 0.25`
-    spinner = Thread.new { delay_spin_cursor(5) }
+    spinner = Thread.new { delay_spin_cursor(3) }
     motors = get_motor_averages(100, 3)
     spinner.exit
     p motors
@@ -102,7 +102,7 @@ Timeout::timeout(60) {
     assert_operator(motors[2], :>, motors[3])
     puts("Tilting backwards...")
     `./virt-quad set i2c_imu_x -0.25`
-    spinner = Thread.new { delay_spin_cursor(5) }
+    spinner = Thread.new { delay_spin_cursor(3) }
     motors = get_motor_averages(100, 3)
     spinner.exit
     p motors
@@ -113,7 +113,7 @@ Timeout::timeout(60) {
     puts("Tilting right...")
     `./virt-quad set i2c_imu_x 0`
     `./virt-quad set i2c_imu_y 0.25`
-    spinner = Thread.new { delay_spin_cursor(5) }
+    spinner = Thread.new { delay_spin_cursor(3) }
     motors = get_motor_averages(100, 3)
     spinner.exit
     p motors
@@ -123,7 +123,7 @@ Timeout::timeout(60) {
     assert_operator(motors[1], :<, motors[3])
     puts("Tilting left...")
     `./virt-quad set i2c_imu_y -0.25`
-    spinner = Thread.new { delay_spin_cursor(5) }
+    spinner = Thread.new { delay_spin_cursor(3) }
     motors = get_motor_averages(100, 3)
     spinner.exit
     p motors

quad/scripts/tests/testing_library.rb

@@ -33,6 +33,7 @@ UART_TX = "virt-quad-fifos/uart-tx"
 require 'test/unit/assertions'
 require 'timeout'
 require 'thread'
+require 'scanf'
 include Test::Unit::Assertions
 
 # Utility functions