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Integration Testing using MAVSDK
PX4 can be tested end to end to using integration tests based on MAVSDK.
The tests are primarily developed against SITL for now and run in continuous integration (CI). However, they are meant to generalize to real tests eventually.
Install the MAVSDK C++ Library
The tests need the MAVSDK C++ library installed system-wide (e.g. in
Install either from binaries or source:
- MAVSDK > Installation > C++: Install as a prebuilt library on supported platforms (recommended)
- MAVSDK > Contributing > Building from Source: Build C++ library from source.
Prepare PX4 Code
To build the PX4 code, use:
DONT_RUN=1 make px4_sitl gazebo mavsdk_tests
Run All PX4 Tests
To run all SITL tests as defined in sitl.json, do:
test/mavsdk_tests/mavsdk_test_runner.py test/mavsdk_tests/configs/sitl.json --speed-factor 10
To see all possible command line arguments, check out:
test/mavsdk_tests/mavsdk_test_runner.py -h usage: mavsdk_test_runner.py [-h] [--log-dir LOG_DIR] [--speed-factor SPEED_FACTOR] [--iterations ITERATIONS] [--abort-early] [--gui] [--model MODEL] [--case CASE] [--debugger DEBUGGER] [--verbose] config_file positional arguments: config_file JSON config file to use optional arguments: -h, --help show this help message and exit --log-dir LOG_DIR Directory for log files --speed-factor SPEED_FACTOR how fast to run the simulation --iterations ITERATIONS how often to run all tests --abort-early abort on first unsuccessful test --gui display the visualization for a simulation --model MODEL only run tests for one model --case CASE only run tests for one case --debugger DEBUGGER choice from valgrind, callgrind, gdb, lldb --verbose enable more verbose output
Notes on implementation
- The tests are invoked from the test runner script mavsdk_test_runner.py, which is written in Python.
This runner also starts
px4as well as Gazebo for SITL tests, and collects the logs of these processes.
- The test runner is a C++ binary
- The main function to parse the arguments.
- An abstraction around MAVSDK called autopilot_tester.
- The actual tests using the abstraction around MAVSDK as e.g. test_multicopter_mission.cpp.
- The tests use the catch2 unit testing framework.
The reasons for using this framework are:
- Asserts (
REQUIRE) which are needed to abort a test can be inside of functions (and not just in the top level test as is the case with gtest).
- Dependency management is easier because catch2 can just be included as a header-only library.
- Catch2 supports tags, which allows for flexible composition of tests.
- Asserts (
- "model": This is the selected Gazebo model, e.g.
- "test case": This is a catch2 test case.