systemcmds: add ntest

This adds the ntest runner using the ntestlib. It's a simple harness
mimicking the gtest test runner for NuttX.

src/systemcmds/ntest/CMakeLists.txt

@@ -0,0 +1,47 @@
+############################################################################
+#
+#   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.
+#
+############################################################################
+
+get_property(sources GLOBAL PROPERTY ntest_test_sources)
+
+px4_add_module(
+	MODULE ntest
+	MAIN ntest
+	STACK_MAIN 4000
+	COMPILE_FLAGS
+	SRCS
+		${sources}
+		ntest.cpp
+	DEPENDS
+		${ntest_dependencies}
+		ntestlib
+	)

src/systemcmds/ntest/ntest.cpp

@@ -0,0 +1,177 @@
+/****************************************************************************
+ *
+ *   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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file ntest_runner.cpp
+ *
+ * Runs ntests which is a light implementation of gtest for NuttX
+ * where the C++ STL is not available.
+ */
+
+#include <px4_log.h>
+#include <px4_module.h>
+#include <cstdio>
+#include <cstring>
+#include <ntestlib/ntestlib.h>
+
+
+__BEGIN_DECLS
+__EXPORT int ntest_main(int argc, char *argv[]);
+__END_DECLS
+
+static void usage(const char *reason);
+static int run_all_tests();
+static void list_tests();
+
+
+static void
+usage(const char *reason)
+{
+	if (reason != nullptr) {
+		PX4_WARN("%s", reason);
+	}
+
+	PRINT_MODULE_DESCRIPTION(
+		R"DESCR_STR(
+### Description
+This command runs the ntests.
+
+### Examples
+Run all ntests
+$ ntest all
+
+List all tests
+$ ntest list_tests
+
+)DESCR_STR");
+
+
+	PRINT_MODULE_USAGE_NAME("ntest", "command");
+	PRINT_MODULE_USAGE_COMMAND_DESCR("all", "Run all tests");
+	PRINT_MODULE_USAGE_COMMAND_DESCR("list_tests", "List all tests");
+}
+
+int
+ntest_main(int argc, char *argv[])
+{
+	if (argc < 2) {
+		usage(nullptr);
+		return 1;
+	}
+
+	if (strcmp(argv[1], "all") == 0) {
+		return run_all_tests();
+
+	} else if (strcmp(argv[1], "list_tests") == 0) {
+		list_tests();
+		return 1;
+
+	} else {
+		usage(nullptr);
+		return 1;
+	}
+}
+
+int run_all_tests()
+{
+	const unsigned num_cases = TestFactory::instance().getNumCases();
+	const unsigned num_tests = TestFactory::instance().getNumTests();
+
+	printf("[==========] Running %d test%s from %d test case%s.\n",
+			num_tests,
+			(num_tests > 1 ? "s" : ""),
+			num_cases,
+			(num_cases > 1 ? "s" : ""));
+
+	unsigned num_failed = 0;
+	for (auto kase : TestFactory::instance().getAllCases()) {
+
+		printf("[----------] %d test%s from %s\n",
+				kase->tests.size(),
+				(kase->tests.size() > 1 ? "s" : ""),
+				kase->casename);
+
+		for (auto test : kase->tests) {
+			printf("[ RUN      ] %s.%s\n", kase->casename, test->testname);
+			if (test->testbase->run() == TestBase::Result::Success) {
+				printf("[       OK ]");
+			} else {
+				printf("[  FAILED  ]");
+				++num_failed;
+			}
+			printf(" %s.%s\n", kase->casename, test->testname);
+		}
+
+		printf("[----------] %d test%s from %s\n",
+				kase->tests.size(),
+				(kase->tests.size() > 1 ? "s" : ""),
+				kase->casename);
+	}
+
+	printf("[==========] %d test%s from %d test case%s ran.\n",
+			num_tests,
+			(num_tests > 1 ? "s" : ""),
+			num_cases,
+			(num_cases > 1 ? "s" : ""));
+
+	printf("[  PASSED  ] %d test%s.\n",
+			num_tests - num_failed,
+			(num_tests - num_failed) > 1 ? "s" : "");
+
+	if (num_failed > 0) {
+		printf("[  FAILED  ] %d test%s, listed below:\n",
+				num_failed,
+				(num_failed) > 1 ? "s" : "");
+
+		for (auto kase : TestFactory::instance().getAllCases()) {
+			for (auto test : kase->tests) {
+				if (test->testbase->getLastResult() != TestBase::Result::Success) {
+					printf("[  FAILED  ] %s.%s\n",
+						kase->casename, test->testname);
+				}
+			}
+		}
+	}
+
+	return (num_failed == 0 ? 0 : 1);
+}
+
+void list_tests()
+{
+	for (auto kase : TestFactory::instance().getAllCases()) {
+		printf("%s.\n", kase->casename);
+		for (auto test : kase->tests) {
+			printf("  %s\n", test->testname);
+		}
+	}
+}