quad: run make deep-clean on ci test

- Add some prints to scripts to help with debugging
- Add timeout if spawn fails
- Add more time to allow changes to take effect

ci-test.sh

@@ -4,4 +4,4 @@ set -e
 export PATH=/usr/local/bin:$PATH
 
 # Quad
-(cd quad && make test)
+(cd quad && make deep-clean && make && make test)

quad/Makefile

@@ -38,8 +38,8 @@ test: all
 	$(MAKE) -C src/queue test
 	$(MAKE) -C src/computation_graph test
 	$(MAKE) -C src/quad_app test
-	#ruby scripts/tests/test_safety_checks.rb
-	#ruby scripts/tests/test_unix_uart.rb
+	ruby scripts/tests/test_safety_checks.rb
+	ruby scripts/tests/test_unix_uart.rb
 
 clean:
 	rm -rf $(INCDIR) $(LIBDIR) $(OUTDIR) $(EXEDIR)

quad/scripts/tests/test_safety_checks.rb

@@ -78,12 +78,18 @@ def check_led(on)
   assert_equal(led, on)
 end
 
+puts("Setting up...")
+
 script_dir = File.expand_path(File.dirname(__FILE__))
 bin_dir = script_dir + "/../../bin/"
 Dir.chdir(bin_dir)
 
+sleep 1
+
 # Start virtual quad
-quad = Process.spawn("./virt-quad")
+Timeout::timeout(10) {
+  quad = Process.spawn("./virt-quad")
+}
 
 sleep 1
 
@@ -92,8 +98,9 @@ sleep 1
 #################
 
 begin
-  puts("beginning tests")
-  
+
+  puts("Beginning tests...")
+
   # Set gravity
   File.write(I2C_MPU_ACCEL_Z, -1 * GRAVITY)
 
@@ -132,7 +139,7 @@ begin
   puts("Check that the LED turns on when gear is flipped on")
   # (motors should still be off because our throttle is low)
   File.write(GEAR, GEAR_ON)
-  sleep 0.020
+  sleep 0.050
   check_led 1
   check_motors_are_off
 
@@ -146,7 +153,7 @@ begin
   # Check that gear switch kills the motors
   # (and that light goes off)
   File.write(GEAR, GEAR_OFF)
-  sleep 0.040
+  sleep 0.050
   check_motors_are_off
   check_led 0
 
@@ -155,7 +162,7 @@ begin
 
   # Check that we can resume flight
   File.write(GEAR, GEAR_ON)
-  sleep 0.040
+  sleep 0.050
   check_led 1
 
   sleep 1
@@ -164,6 +171,7 @@ begin
 ensure
 
   Process.kill(9, quad)
+  Process.wait(quad)
 
 end
 

quad/scripts/tests/test_unix_uart.rb

@@ -17,12 +17,18 @@ require 'test/unit/assertions'
 require 'thread'
 include Test::Unit::Assertions
 
+puts("Setting up...")
+
 script_dir = File.expand_path(File.dirname(__FILE__))
 bin_dir = script_dir + "/../../bin/"
 Dir.chdir(bin_dir)
 
+sleep 1
+
 # Start virtual quad
-quad = Process.spawn("./virt-quad")
+Timeout::timeout(10) {
+  quad = Process.spawn("./virt-quad")
+}
 
 sleep 1
 
@@ -32,6 +38,8 @@ sleep 1
 
 begin
 
+  puts("Beginning tests...")
+
   # Flip gear on
   File.write(GEAR, GEAR_ON)
   sleep 0.015
@@ -63,6 +71,7 @@ begin
 ensure
 
   Process.kill(9, quad)
+  Process.wait(quad)
 
 end