From 141963dad6358d028c4136b2b7e7da585a6fe704 Mon Sep 17 00:00:00 2001
From: Brendan Bartels <bbartels@iastate.edu>
Date: Thu, 20 Apr 2017 00:26:09 -0500
Subject: [PATCH] quad: add valgrind to CI
---
.gitlab-ci.yml | 2 +-
quad/Makefile | 2 +-
quad/scripts/tests/test_memory_integrity.rb | 105 ++++++++++++++++++++
quad/scripts/tests/test_safety_checks.rb | 10 +-
quad/scripts/tests/testing_library.rb | 1 +
5 files changed, 113 insertions(+), 7 deletions(-)
create mode 100644 quad/scripts/tests/test_memory_integrity.rb
diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
index b10138c39..0e81abf59 100644
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@@ -1,7 +1,7 @@
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
diff --git a/quad/Makefile b/quad/Makefile
index b6838e4bf..b3d2929b7 100644
--- a/quad/Makefile
+++ b/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)
diff --git a/quad/scripts/tests/test_memory_integrity.rb b/quad/scripts/tests/test_memory_integrity.rb
new file mode 100644
index 000000000..f422b49e8
--- /dev/null
+++ b/quad/scripts/tests/test_memory_integrity.rb
@@ -0,0 +1,105 @@
+#!/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
+
diff --git a/quad/scripts/tests/test_safety_checks.rb b/quad/scripts/tests/test_safety_checks.rb
index 20c49fb33..f7cd8ddb0 100644
--- a/quad/scripts/tests/test_safety_checks.rb
+++ b/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
diff --git a/quad/scripts/tests/testing_library.rb b/quad/scripts/tests/testing_library.rb
index 6301d840d..e8afdc7a0 100644
--- a/quad/scripts/tests/testing_library.rb
+++ b/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
--
GitLab