Merge branch 'master' of https://git.ece.iastate.edu/danc/MicroCART_17-18

.gitlab-ci.yml

+build:
+  stage: build
+  script:
+    - echo "It works."
+
+# run tests using the binary built before
+test:
+  stage: test
+  script:
+    - bash test-ci.sh

Readme.md

+[![build status](https://git.ece.iastate.edu/danc/MicroCART_17-18/badges/master/build.svg)](https://git.ece.iastate.edu/danc/MicroCART_17-18/commits/master)
+
 Repository for 2016-2017 MicroCART project.

controls/model/modelParameters.m

     % Model Parameters
     m = 1.19;                       % Quadrotor + battery mass
     g = 9.81;                       % Acceleration of gravity
-    Jxx = 0.0218;                   % Quadrotor and battery motor of inertia around bx (pitch)
-    Jyy = 0.0277;                   % Quadrotor and battery motor of inertia around by (roll)
+    %Jxx = 0.0218;                   % Quadrotor and battery motor of inertia around bx (pitch)
+    %Jyy = 0.0277;                   % Quadrotor and battery motor of inertia around by (roll)
+    Jxx = 0.0277;
+    Jyy = 0.0218;
     Jzz = 0.0332;                   % Quadrotor and battery motor of inertia around bz (yaw)
     Jreq = 4.2012e-05;              % Rotor and motor moment of inertia around axis of rotation 
     Kt = 8.6519e-6;                 % Rotor thrust constant

groundStation/src/backend/commands.c

@@ -169,10 +169,11 @@ struct MessageType MessageTypes[MAX_TYPE_ID] =
 
 int findCommand(char * str)
 {
-	for (int i = 0; i < MAX_TYPE_ID; i++) {
+	int i;
+	for (i = 0; i < MAX_TYPE_ID; i++) {
 		if (strcmp(str, MessageTypes[i].cmdText) == 0) {
 			return i;
 		}
 	}
 	return -1;
-}
\ No newline at end of file
+}

quad/lib/test/.gitignore

+example
+test.o
\ No newline at end of file

quad/lib/test/Makefile

+test.o: test.c
+	gcc -c test.c
+
+example: example.c test.c test.h
+	gcc -g -o example example.c test.c test.h
+
+.PHONY: clean
+clean:
+	rm example test.o

quad/lib/test/README.md

+Basic Testing Suite in C
+----
+This test suite helps you run tests. It handles the result of every test
+whether it be a success, failure, or segfault, and keeps running until
+all tests have been executed. It then gives a summary of the test results.
+
+To use, just write your tests using functions that return `int`s to indicate
+failure. 1 means failure. 0 means success.
+
+Then in your main function for your tests, pass these functions to the `test()`
+function along with a name you want included in the test report.
+
+```c
+int main() {
+    test(test_func, "this test will pass!");
+    test(another_func, "this one might fail...");
+    ...
+```
+
+Then at the end of your main function, call the `test_summary()` function, and
+return its return value from your main function.
+
+```c
+int main() {
+    ...
+    return test_summary();
+}
+```
+
+An `example.c` file is included for reference.
\ No newline at end of file

quad/lib/test/example.c

+#include <stdio.h>
+#include "test.h"
+
+int test1() {
+  puts("hi world.");
+  return 0;
+}
+
+int test2() {
+  return 1;
+}
+
+int test3() {
+  int *bad = NULL;
+  int x = *bad;
+  return 0;
+}
+
+int main() {
+  test(test1, "print hello world");
+  test(test2, "just fail");
+  test(test3, "survive segfault");
+  return test_summary();
+}

quad/lib/test/test.c

+#include "test.h"
+
+static int num_tests = 0;
+static struct Test tests[128];
+static int longest_test_name = 0;
+
+void test(int (*function)(), char *test_name) {
+  int test_name_length = strlen(test_name);
+  if (test_name_length > longest_test_name) {
+    longest_test_name = test_name_length;
+  }
+
+  pid_t pid = fork();
+  if (pid == 0) {
+    // test process
+    int exit_status = function();
+    exit(exit_status);
+  } else {
+    int status;
+    waitpid(pid, &status, 0);
+
+    struct Test test;
+    strcpy(test.name, test_name);
+
+    if (WIFEXITED(status)) {
+      int exit_status = WEXITSTATUS(status);
+      if (exit_status == 0) {
+	test.failed = 0;
+	strcpy(test.result_msg, "passed");
+      } else {
+	test.failed = 1;
+	strcpy(test.result_msg,  "FAILED");
+      }
+    } else if (WIFSIGNALED(status)) {
+      test.failed = 1;
+      strcpy(test.result_msg, "ERROR!");
+    }
+
+    tests[num_tests++] = test;
+  }
+}
+
+int test_summary() {
+  unsigned char at_least_one_test_failed = 0;
+  int num_failed = 0;
+  puts("---------------------------------");
+  puts("Test results:");
+  puts("");
+  int i = 0;
+  for (i = 0; i < num_tests; i += 1) {
+    printf("#%3d: %-*s (%s)\n", i + 1, longest_test_name, tests[i].name, tests[i].result_msg);
+    num_failed += tests[i].failed;
+    at_least_one_test_failed |= tests[i].failed;
+  }
+  puts("");
+  printf("Total: %3d of %-3d tests passed\n", num_tests - num_failed, num_tests);
+  puts("---------------------------------");
+  num_tests = 0;
+  longest_test_name = 0;
+  return at_least_one_test_failed;
+}

quad/lib/test/test.h

+#ifndef TEST_H
+#define TEST_H
+
+#include <string.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <sys/types.h>
+#include <sys/wait.h>
+
+struct Test {
+  char name[64];
+  char result_msg[32];
+  unsigned char failed;
+};
+
+void test(int (*)(), char *);
+int test_summary();
+
+#endif

quad/sw/modular_quad_pid/test/.gitignore

-uart_buff.c
-uart_buff.h
-test
\ No newline at end of file
+test_uart_buff
\ No newline at end of file

quad/sw/modular_quad_pid/test/Makefile

-.PHONY: test
-test:
-	cp ../src/uart_buff.c ../src/uart_buff.h ./
-	gcc -g -o test test_uart_buff.c uart_buff.c
+# QUAD_ROOT is obtained from environment
+SRC = $(QUAD_ROOT)/sw/modular_quad_pid/src
+LIB = $(QUAD_ROOT)/lib/test
 
+test_uart_buff: test_uart_buff.c
+	gcc -o test_uart_buff -I. -I$(SRC) -I$(LIB) $(LIB)/test.o test_uart_buff.c $(SRC)/uart_buff.c
+
+.PHONY: clean
 clean:
-	rm *.o rm *.gch
+	rm test_uart_buff

quad/sw/modular_quad_pid/test/test_uart_buff.c

@@ -2,39 +2,7 @@
 #include "uart_buff.h"
 #include <math.h>
 #include <string.h>
-
-int main() {
-  int failed = 0;
-  failed += test_empty_when_empty();
-  failed += test_empty_after_receiving_some_data();
-  failed += test_full_is_false_at_start();
-  failed += test_full_after_receiving_some_data();
-  failed += test_packet_get_u8();
-  failed += test_packet_get_u8_with_offset();
-  failed += test_packet_get_u16();
-  failed += test_packet_get_u16_with_offset();
-  failed += test_packet_get_u16_wrapped();
-  failed += test_packet_get_u32();
-  failed += test_packet_get_u32_with_offset();
-  failed += test_packet_get_u32_wrapped_1_4();
-  failed += test_packet_get_u32_wrapped_2_4();
-  failed += test_packet_get_u32_wrapped_3_4();
-  failed += test_packet_get_float();
-  failed += test_packet_get_float_with_offset();
-  failed += test_buffer_size_after_VRPN_packet();
-  failed += test_buffer_size_empty();
-  failed += test_buffer_size_after_garbage_data();
-  failed += test_buffer_size_after_garbage_data_scanned();
-  failed += test_packet_ready_at_start();
-  failed += test_packet_ready_after_receiving_packet();
-  failed += test_packet_ready_after_consuming_packet();
-  failed += test_size_when_data_lenth_too_large();
-  failed += test_get_raw();
-
-  printf("Total tests failed: %d\n", failed);
-
-  return 0;
-}
+#include "test.h"
 
 int float_equals(float x1, float x2) {
   return fabs(x1 - x2) < 10e-5;
@@ -69,12 +37,12 @@ void add_packet(u16 type, unsigned short id, unsigned short length, unsigned cha
 void add_VRPN_packet() {
   float arr[6] = {1.0, 1.2, 1.4, -1.5, -0.5, -1.1};
   unsigned char *data = (unsigned char *) &arr;
-  add_packet(4, 0, 0, 24, data);
+  add_packet(4, 0, 24, data);
 }
 
 void add_basic_packet() {
   unsigned char data[6] = {0xAA, 0xBB, 0xCC, 0xDD, 0xEE, 0xFF};
-  add_packet(4, 0, 0, 6, data);
+  add_packet(4, 0, 6, data);
 }
 
 void add_garbage_data() {
@@ -104,7 +72,6 @@ int test_empty_when_empty() {
   int exp = 1;
   int act = uart_buff_empty();
   int success = exp == act;
-  print_test_result(success, (float) exp, (float) act);
   return !success;
 }
 
@@ -114,7 +81,6 @@ int test_empty_after_receiving_some_data() {
   int exp = 0;
   int act = uart_buff_empty();
   int success = exp == act;
-  print_test_result(success, (float) exp, (float) act);
   return !success;
 }
 
@@ -123,7 +89,6 @@ int test_full_is_false_at_start() {
   int exp = 0;
   int act = uart_buff_full();
   int success = exp == act;
-  print_test_result(success, (float) exp, (float) act);
   return !success;
 }
 
@@ -133,7 +98,6 @@ int test_full_after_receiving_some_data() {
   int exp = 0;
   int act = uart_buff_full();
   int success = exp == act;
-  print_test_result(success, (float) exp, (float) act);
   return !success;
 }
 
@@ -142,7 +106,6 @@ int test_buffer_size_empty() {
   int exp = 0;
   int act = uart_buff_size();
   int success = exp == act;
-  print_test_result(success, (float) exp, (float) act);
   return !success;
 }
 
@@ -152,7 +115,6 @@ int test_buffer_size_after_garbage_data() {
   int exp = 32;
   int act = uart_buff_size();
   int success = exp == act;
-  print_test_result(success, (float) exp, (float) act);
   return !success;
 }
 
@@ -163,7 +125,6 @@ int test_buffer_size_after_garbage_data_scanned() {
   int exp = 0;
   int act = uart_buff_size();
   int success = exp == act;
-  print_test_result(success, (float) exp, (float) act);
   return !success;
 }
 
@@ -173,7 +134,6 @@ int test_buffer_size_after_VRPN_packet() {
   int exp = 32;
   int act = uart_buff_size();
   int success = exp == act;
-  print_test_result(success, (float) exp, (float) act);
   return !success;
 }
 
@@ -183,7 +143,6 @@ int test_packet_get_u8() {
   int exp = 0xAA;
   int act = uart_buff_data_get_u8(0);
   int success = exp == act;
-  print_test_result(success, (float) exp, (float) act);
   return !success;
 }
 
@@ -193,7 +152,6 @@ int test_packet_get_u8_with_offset() {
   int exp = 0xBB;
   int act = uart_buff_data_get_u8(1);
   int success = exp == act;
-  print_test_result(success, (float) exp, (float) act);
   return !success;
 }
 
@@ -203,7 +161,6 @@ int test_packet_get_u16() {
   int exp = 0xBBAA;
   int act = uart_buff_data_get_u16(0);
   int success = exp == act;
-  print_test_result(success, (float) exp, (float) act);
   return !success;
 }
 
@@ -213,7 +170,6 @@ int test_packet_get_u16_with_offset() {
   int exp = 0xDDCC;
   int act = uart_buff_data_get_u16(2);
   int success = exp == act;
-  print_test_result(success, (float) exp, (float) act);
   return !success;
 }
 
@@ -227,7 +183,6 @@ int test_packet_get_u16_wrapped() {
   int exp = 0xBBAA;
   int act = uart_buff_data_get_u16(0);
   int success = exp == act;
-  print_test_result(success, (float) exp, (float) act);
   return !success;
 }
 
@@ -237,7 +192,6 @@ int test_packet_get_u32() {
   unsigned int exp = 0xDDCCBBAA;
   unsigned int act = uart_buff_data_get_u32(0);
   int success = exp == act;
-  print_test_result(success, (float) exp, (float) act);
   return !success;
 }
 
@@ -247,7 +201,6 @@ int test_packet_get_u32_with_offset() {
   unsigned int exp = 0xFFEEDDCC;
   unsigned int act = uart_buff_data_get_u32(2);
   int success = exp == act;
-  print_test_result(success, (float) exp, (float) act);
   return !success;
 }
 
@@ -261,7 +214,6 @@ int test_packet_get_u32_wrapped_1_4() {
   int exp = 0xDDCCBBAA;
   int act = uart_buff_data_get_u32(0);
   int success = exp == act;
-  print_test_result(success, (float) exp, (float) act);
   return !success;
 }
 
@@ -275,7 +227,6 @@ int test_packet_get_u32_wrapped_2_4() {
   int exp = 0xDDCCBBAA;
   int act = uart_buff_data_get_u32(0);
   int success = exp == act;
-  print_test_result(success, (float) exp, (float) act);
   return !success;
 }
 
@@ -289,7 +240,6 @@ int test_packet_get_u32_wrapped_3_4() {
   int exp = 0xDDCCBBAA;
   int act = uart_buff_data_get_u32(0);
   int success = exp == act;
-  print_test_result(success, (float) exp, (float) act);
   return !success;
 }
 
@@ -300,7 +250,6 @@ int test_packet_get_float() {
   float exp = 1.0;
   float act = uart_buff_data_get_float(0);
   int success = float_equals(exp, act);
-  print_test_result(success, exp, act);
   return !success;
 }
 
@@ -310,7 +259,6 @@ int test_packet_get_float_with_offset() {
   float exp = 1.2;
   float act = uart_buff_data_get_float(4);
   int success = float_equals(exp, act);
-  print_test_result(success, exp, act);
   return !success;
 }
 
@@ -319,7 +267,6 @@ int test_packet_ready_at_start() {
   int exp = 0;
   int act = uart_buff_packet_ready();
   int success = act == exp;
-  print_test_result(success, exp, act);
   return !success;
 }
 
@@ -329,7 +276,6 @@ int test_packet_ready_after_receiving_packet() {
   int exp = 1;
   int act = uart_buff_packet_ready();
   int success = act == exp;
-  print_test_result(success, exp, act);
   return !success;
 }
 
@@ -340,19 +286,17 @@ int test_packet_ready_after_consuming_packet() {
   int exp = 0;
   int act = uart_buff_packet_ready();
   int success = act == exp;
-  print_test_result(success, exp, act);
   return !success;
 }
 
 int test_size_when_data_lenth_too_large() {
   uart_buff_reset();
   unsigned char data[UART_MAX_PACKET_SIZE + 1];
-  add_packet(4, 0, 0, UART_MAX_PACKET_SIZE + 1, data);
+  add_packet(4, 0, UART_MAX_PACKET_SIZE + 1, data);
   uart_buff_packet_ready();
   int exp = 0;
   int act = uart_buff_size();
   int success = act == exp;
-  print_test_result(success, exp, act);
   return !success;
 }
 
@@ -368,10 +312,37 @@ int test_get_raw() {
   for (i = 0; i < length; i += 1) {
     success = success && (exp[i] == act[i]);
     if (!success) {
-      printf("FAILED");
       break;
     }
   }
-  if (success) printf("passed\n");
   return !success;
 }
+
+int main() {
+  test(test_empty_when_empty, "test empty when empty");
+  test(test_empty_after_receiving_some_data, "test empty after recieving soem data");
+  test(test_full_is_false_at_start, "test full is false at start");
+  test(test_full_after_receiving_some_data, "test full after receiving some data");
+  test(test_packet_get_u8, "test packet get u8");
+  test(test_packet_get_u8_with_offset, "test packet get u8 with offset");
+  test(test_packet_get_u16, "test packet get u16");
+  test(test_packet_get_u16_with_offset, "test packet get u16 wrapped");
+  test(test_packet_get_u16_wrapped, "test packet get u16 wrapped");
+  test(test_packet_get_u32, "test packet get u32");
+  test(test_packet_get_u32_with_offset, "test packet get u32 with offset");
+  test(test_packet_get_u32_wrapped_1_4, "test packet get u32 wrapped 1/4");
+  test(test_packet_get_u32_wrapped_2_4, "test packet get u32 warpped 2/4");
+  test(test_packet_get_u32_wrapped_3_4, "test packet get u32 wrapped 3/4");
+  test(test_packet_get_float, "test packet get u32 wrapped 3/4");
+  test(test_packet_get_float_with_offset, "test packet get float with offset");
+  test(test_buffer_size_after_VRPN_packet, "test buffer size after VRPN packet");
+  test(test_buffer_size_empty, "test buffer size empty");
+  test(test_buffer_size_after_garbage_data, "test buffer size after garbage data");
+  test(test_buffer_size_after_garbage_data_scanned, "test buffer size after garbage data scanned");
+  test(test_packet_ready_at_start, "test packet ready at start");
+  test(test_packet_ready_after_receiving_packet, "test packet ready after receiving packet");
+  test(test_packet_ready_after_consuming_packet, "test packet ready after consuming packet");
+  test(test_size_when_data_lenth_too_large, "test size when data length too large");
+
+  return test_summary();
+}

quad/test-ci.sh

+#!/bin/bash
+
+QUAD_ROOT=$PROJECT_ROOT/quad
+export QUAD_ROOT
+
+cd $QUAD_ROOT/lib/test
+make || exit 1
+
+cd $QUAD_ROOT/sw/modular_quad_pid/test
+make || exit 1
+./test_uart_buff || exit 1

test-ci.sh

+#!/bin/bash
+
+PROJECT_ROOT=$(pwd)
+export PROJECT_ROOT
+
+# Quad
+bash quad/test-ci.sh || exit 1