lib: add ntestlib

This adds a small testing library which mimicks gtest to be used on
NuttX where we currently can't use the C++ STL.

src/lib/CMakeLists.txt

@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2017 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2017-2019 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -50,6 +50,7 @@ add_subdirectory(landing_slope)
 add_subdirectory(led)
 add_subdirectory(mathlib)
 add_subdirectory(mixer)
+add_subdirectory(ntestlib)
 add_subdirectory(perf)
 add_subdirectory(pid)
 add_subdirectory(pwm_limit)

src/lib/ntestlib/CMakeLists.txt

@@ -0,0 +1,34 @@
+############################################################################
+#
+#   Copyright (c) 2019 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+px4_add_library(ntestlib ntestlib.cpp)

src/lib/ntestlib/ntestlib.cpp

@@ -0,0 +1,149 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2019 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include "ntestlib.h"
+#include <cstring>
+
+TestBase::Result TestBase::run()
+{
+	_result = Result::Success;
+
+	pthread_t runner_thread;
+
+	pthread_attr_t attr;
+	pthread_attr_init(&attr);
+	pthread_attr_setstacksize(&attr, PX4_STACK_ADJUSTED(1000));
+
+	pthread_create(&runner_thread, &attr, TestBase::run_trampoline, this);
+
+	pthread_attr_destroy(&attr);
+
+	pthread_join(runner_thread, NULL);
+
+	return _result;
+}
+
+void *TestBase::run_trampoline(void *self)
+{
+	reinterpret_cast<TestBase *>(self)->run_testbody();
+	return nullptr;
+}
+
+void TestBase::abort_test()
+{
+	pthread_exit(NULL);
+}
+
+const char *TestBase::extractFilename(const char *path)
+{
+	const char *pos = strrchr(path, '/');
+
+	if (!pos) {
+		return nullptr;
+	}
+
+	return pos + 1;
+}
+
+const char *str(const TestBase::Result result)
+{
+	switch (result) {
+	case TestBase::Result::Success: return "Success";
+
+	case TestBase::Result::Failed: return "Failed";
+
+	case TestBase::Result::Timeout: return "Timeout";
+
+	case TestBase::Result::NotImplemented: return "Not implemented";
+
+	default: return "Unknown";
+	}
+}
+
+TestFactory &TestFactory::instance()
+{
+	static TestFactory instance;
+	return instance;
+}
+
+void TestFactory::registerTest(ITestRegistrar *registrar, const char *casename, const char *testname)
+{
+	auto *test = new Test();
+	test->testname = testname;
+	test->testbase = registrar->instantiateTest();
+
+	Case *kase = findCase(casename);
+
+	if (kase) {
+		kase->tests.add(test);
+
+	} else {
+		auto *new_case = new Case();
+		new_case->casename = casename;
+		new_case->tests.add(test);
+		_cases.add(new_case);
+	}
+
+}
+
+List<TestFactory::Case *> &TestFactory::getAllCases()
+{
+	return _cases;
+}
+
+unsigned TestFactory::getNumTests()
+{
+	unsigned num = 0;
+
+	for (const auto kase : _cases) {
+		num += kase->tests.size();
+	}
+
+	return num;
+}
+
+unsigned TestFactory::getNumCases()
+{
+	return _cases.size();
+}
+
+TestFactory::Case *TestFactory::findCase(const char *casename)
+{
+	for (const auto kase : _cases) {
+		if (strcmp(kase->casename, casename) == 0) {
+			return kase;
+		}
+	}
+
+	return nullptr;
+}