Merge branch 'master' into TESTING_unit_testing_upgrade

.gitlab-ci.yml

@@ -11,10 +11,10 @@ stages:
 build_job:
   stage: build
   script:
-    - bash ci-build.sh
+    - bash ci/ci-build.sh
 
 # run tests using the binary built before
 test_job:
   stage: test
   script:
-    - bash ci-test.sh
+    - bash ci/ci-test.sh

.gitlab/issue_templates/bug.md

+## Bug Description
+*Describe the bug*
+
+### Steps to reproduce
+1.
+
+## Proposed Fix
+*Describe the proposed fix for the bug*

.gitlab/issue_templates/cleanup.md

+## Problem Description
+*Describe the area needing improvement or clean up*
+
+## Proposed Solution
+*Describe the proposed solution*

.gitlab/issue_templates/feature.md

+## Problem Description
+*Describe the problem or idea*
+
+## Proposed Solution
+*Describe the proposed solution to the problem*

.gitlab/merge_request_templates/bug.md

+## Bug Description
+*Describe the bug*
+
+## Fix Description
+*Describe your implemented fix*
+
+## Impacted Areas
+*Remove inapplicable items*
+- Quad Software
+- Controls
+- Ground Station
+- Testing

.gitlab/merge_request_templates/cleanup.md

+## Problem Description
+*Describe the problem you addressed with the clean up*
+
+## Refactor Description
+*Describe your clean up efforts*
+
+## Clean up areas
+*Remove inapplicable items*
+- Code refactor
+- Code comments added
+- Documentation added

.gitlab/merge_request_templates/feature.md

+## Feature Description
+*Describe the feature*
+
+## Implementation Details
+*Describe your implementation*
+
+## Impacted Areas
+*Remove inapplicable items*
+- Quad Software
+- Controls
+- Ground Station
+- Testing

README.md

-[![build status](https://git.ece.iastate.edu/danc/MicroCART/badges/master/build.svg)](https://git.ece.iastate.edu/danc/MicroCART_17-18/commits/master)
+[![build status](https://git.ece.iastate.edu/danc/MicroCART/badges/master/build.svg)](https://git.ece.iastate.edu/danc/MicroCART/commits/master)
 
 
 # MicroCART 
@@ -25,17 +25,18 @@ MicroCART has 3 areas of development:
     effective characterization of the quad.
 
 ## Sections
-[Quadcopter](quad/README.md)  
-[Ground Station](groundStation/README.md)  
-[Controls](controls/README.md)  
+- [Quadcopter](quad/README.md)  
+- [Ground Station](groundStation/README.md)  
+- [Controls](controls/README.md)  
 
 ## Documentation
-[How to demo the quadcopter](documentation/how_to_demo.md)  
-[How to charge the LiPo batteries](documentation/how_to_charge_lipo.md)  
-[Continuous Integration FAQ](documentation/ci_faq.md)  
-[How to document things on Gitlab](documentation/how_to_document_things_on_gitlab.md)  
-[How to update the website](website/README.md)  
-[How to use Git](documentation/how_to_use_git.md)
+- [Getting started](documentation/getting_started.md)
+- [How to demo the quadcopter](documentation/how_to_demo.md)  
+- [How to charge the LiPo batteries](documentation/how_to_charge_lipo.md)  
+- [Continuous Integration FAQ](documentation/ci_faq.md)  
+- [How to document things on Gitlab](documentation/how_to_document_things_on_gitlab.md)  
+- [How to update the website](website/README.md)  
+- [How to use Git](documentation/how_to_use_git.md)
 
 # Stable Releases
 To browse stable releases from previous teams, view the [Tags](/../tags).

ci/README.md

+# What's here?
+This folder contains the scripts run by the CI pipeline on GitLab.
+The [`.gitlab-ci.yml`](.gitlab-ci.yml) at the top level of the repo
+specifies the two stages of the pipeline, __Build__ and __Test__.
+
+## Build Stage
+The build stage is defined by the [`ci-build.sh`](ci/ci-build.sh) file.
+It runs [make](quad/Makefile) under the quad directory to build the project.
+
+## Test Stage
+The test stage is defined by the [`ci-test.sh`](ci/ci-test.sh) file.
+It runs [make test](quad/Makefile#36) under the quad directory to run the tests.

documentation/ci_faq.md

@@ -36,10 +36,10 @@ directory.
 ## How does CI work?
 When a commit is added to a branch in our repository, a notification is sent out
 to our gitlab-ci-runner, which instructs it to checkout the updated branch and
-run the directive in `.gitlab-ci.yml`. It then runs each directive, which is
+run the directive in [`.gitlab-ci.yml`](.gitlab-ci.yml). It then runs each directive, which is
 made up of bash scripts to execute. In our case, we run two scripts, 
-`ci-build.sh` and `ci-test.sh`, which compile projects and run checks,
-respectively. (Look at these scripts to learn more about how they work). If
-some error occurs during the script (perhaps a forced error generated by a
-failed test), then the runner sends a message back to Gitlab indicating that the
-CI failed. Otherwise, it succeeds.
+[`ci-build.sh`](ci/ci-build.sh) and [`ci-test.sh`](ci/ci-test.sh), 
+which compile projects and run checks, respectively. Look at these scripts to 
+learn more about how they work. If some error occurs during the script 
+(perhaps a forced error generated by a failed test), then the runner sends a 
+message back to Gitlab indicating that the CI failed. Otherwise, it succeeds.

quad/Makefile

@@ -38,9 +38,9 @@ test: all
 	$(MAKE) -C src/queue test
 	$(MAKE) -C src/computation_graph test
 	$(MAKE) -C src/quad_app test
-	ruby scripts/tests/test_memory_integrity.rb
-	ruby scripts/tests/test_safety_checks.rb
-	ruby scripts/tests/test_communication.rb
+	ruby scripts/ci-tests/test_memory_integrity.rb
+	ruby scripts/ci-tests/test_safety_checks.rb
+	ruby scripts/ci-tests/test_communication.rb
 
 clean:
 	rm -rf $(INCDIR) $(LIBDIR) $(OUTDIR) $(EXEDIR)

quad/scripts/tests/test_memory_integrity.rb → quad/scripts/ci-tests/test_memory_integrity.rb

@@ -77,7 +77,7 @@ ensure
   Process.kill(2, quad)
   sleep 1 # wait for valgrind to write to file
 
-  # Process the valgrind file
+  # Process the valgrind file, look for number of errors
   file = File.open("./valgrind.out")
   everything = file.readlines
   last_line = everything.last

quad/scripts/tests/test_safety_checks.rb → quad/scripts/ci-tests/test_safety_checks.rb

@@ -51,7 +51,7 @@ Timeout::timeout(60) {
     check_led(0, "LED was on at startup! It should be off so that we can verify when the quad is ready.")
 
     puts("Check that increasing the throttle does nothing to motors")
-    # (because gear is still off)
+    # Motors should not engage when gear is still off
     for i in (THROTTLE_MIN..THROTTLE_MAX).step(0.01)
       set_throttle(i)
       check_motors_are_off "Was able to turn on motors with GEAR off! Yikes!"
@@ -60,7 +60,8 @@ Timeout::timeout(60) {
     end
 
     puts("Check that flipping gear to 1 while throttle is high does nothing")
-    # (motors should still be off, LED should still be off)
+    # Motors should still be off, LED should still be off
+    set_gear GEAR_ON
     sleep 0.01
     check_motors_are_off "Motors turned on by gear while rc throttle was high! How dangerous!"
     i = THROTTLE_MAX
@@ -72,12 +73,12 @@ Timeout::timeout(60) {
       sleep 0.005
     end
 
-    # (swtich GEAR back to off and bring throttle off)
+    # Switch GEAR off and bring throttle off
     set_gear GEAR_OFF
     set_throttle THROTTLE_MIN
 
     puts("Check that the LED turns on when gear is flipped on")
-    # (motors should still be off because our throttle is low)
+    # Motors should still be off because our throttle is low
     set_gear GEAR_ON
     sleep 0.01
     check_motors_are_off "Motors turned on while throttle was low! Yikes!"
@@ -129,7 +130,7 @@ Timeout::timeout(60) {
     sleep 0.01
     check_motors_are_off "Motors didn't turn off when GEAR was switched off! How dangerous!"
 
-    # (Bring the RC throttle back down)
+    # Bring the RC throttle back to minimum
     set_throttle THROTTLE_MIN
 
     puts "All safety checks passed."