Unit Tests

PX4 provides a simple base Unittest-class. Each developer is encouraged to write unit tests in the process of adding a new feature to the PX4 framework.

Writing a Test

  1. Create a new .cpp file within tests with name test_[description].cpp.
  2. Within test_[description].cpp include the base unittest-class <unit_test.h> and all files required to write a test for the new feature.
  3. Within test_[description].cpp create a class [Description]Test that inherits from UnitTest.
  4. Within [Description]Test class declare the public method virtual bool run_tests().
  5. Within [Description]Test class declare all private methods required to test the feature in question (test1(), test2(),...).
  6. Within test_[description].cpp implement the run_tests() method where each test[1,2,...] will be run.
  7. Within test_[description].cpp, implement the various tests.
  8. At the bottom within test_[description].cpp declare the test.

    ut_declare_test_c(test_[description], [Description]Test)
    

    Here is a template:

    #include <unit_test.h>
    #include "[new feature].h"
    ...
    
    class [Description]Test : public UnitTest
    {
    public:
        virtual bool run_tests();
    
    private:
        bool test1();
        bool test2();
        ...
    };
    
    bool [Description]Test::run_tests()
    {
        ut_run_test(test1)
        ut_run_test(test2)
        ...
    
        return (_tests_failed == 0);
    }
    
    bool [Description]Test::test1()
    {
        ut_[name of one of the unit test functions](...
        ut_[name of one of the unit test functions](...
        ...
    
        return true;
    }
    
    bool [Description]Test::test2()
    {
        ut_[name of one of the unit test functions](...
        ut_[name of one of the unit test functions](...
        ...
    
        return true;
    }
    ...
    
    ut_declare_test_c(test_[description], [Description]Test)
    

    Note that ut_[name of one of the unit test functions] corresponds to one of the unittest functions defined within unit_test.h.

  9. Within tests_main.h define the new test:

    extern int test_[description](int argc, char *argv[]);
    
  10. Within tests_main.c add description name, test function and option:

    ...
    } tests[] = {
        {...
        {"[description]", test_[description], OPTION},
        ...
    }
    

    OPTION can be OPT_NOALLTEST,OPT_NOJIGTEST or 0 and is considered if within px4 shell one of the two commands are called:

    pxh> tests all
    

    or

    pxh> tests jig
    

    If a test has option OPT_NOALLTEST, then that test will be excluded when calling tests all. The same is true for OPT_NOJITEST when command test jig is called. Option 0 means that the test is never excluded, which is what most developer want to use.

  11. Add the test test_[desciption].cpp to the CMakeLists.txt.

Testing on the local machine

The following command is sufficient to start a minimal new shell with the PX4 posix port running.

make posix_sitl_shell none

The shell can then be used to e.g. execute unit tests:

pxh> tests [description]

Alternatively it is also possible to run the complete unit-tests right from bash:

make tests

To see a full list of available tests write within px4 shell:

pxh> tests help

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