Added testing framework

.travis.yml

@@ -0,0 +1,32 @@
+# Based on http:https://stackoverflow.com/a/41916657, https://github.com/Microsoft/GSL/blob/master/.travis.yml
+branches:
+ only:
+ - master
+
+dist: trusty
+sudo: required
+language: cpp
+compiler: gcc
+addons:
+ apt:
+ sources:
+ - ubuntu-toolchain-r-test
+ packages:
+ - gcc-6
+ - g++-6
+ - gcc-6-multilib
+ - g++-6-multilib
+ - gcc-multilib
+ - cmake
+
+install:
+ - sudo update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-6 50
+ - sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-6 50
+ - gcc --version && g++ --version && cmake --version
+
+before_script:
+ - mkdir build && cd build
+ - cmake -DTEST_MODE=TRUE .. && cmake --build .
+
+script:
+ - ctest --output-on-failure

CMakeLists.txt

@@ -1,35 +1,70 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.2)
 
-set(CMAKE_TOOLCHAIN_FILE "teensy-arm.toolchain.cmake")
 set(CMAKE_DISABLE_SOURCE_CHANGES ON)
 #set(CMAKE_VERBOSE_MAKEFILE TRUE)
-
-project(vive-diy-position-sensor)
+set(CMAKE_CXX_STANDARD 14)
 
 set(SOURCE_FILES
- src/main.cpp
- src/settings.cpp
-
  src/cycle_phase_classifier.cpp
  src/data_frame_decoder.cpp
- src/debug_node.cpp
  src/formatters.cpp
  src/geometry.cpp
  src/input.cpp
+ src/mavlink.cpp
+ src/pulse_processor.cpp
+ src/primitives/string_utils.cpp
+)
+
+set(PLATFORM_SPECIFIC_SOURCE_FILES
+ src/main.cpp
+ src/settings.cpp
+ src/debug_node.cpp
  src/input_cmp.cpp
  src/led_state.cpp
- src/mavlink.cpp
  src/outputs.cpp
  src/platform.cpp
- src/pulse_processor.cpp
  src/vive_sensors_pipeline.cpp
-
  src/primitives/timestamp.cpp
- src/primitives/string_utils.cpp
 )
 
-add_executable(vive-diy-position-sensor "${SOURCE_FILES}")
-add_firmware_targets(vive-diy-position-sensor)
+set(TEST_SOURCE_FILES
+ test/main_test.cpp
+ test/platform_mocks.cpp
+ test/test_pulse_processor.cpp
+)
+
+if (NOT TEST_MODE)
+ set(CMAKE_TOOLCHAIN_FILE "teensy-arm.toolchain.cmake")
+
+ project(vive-diy-position-sensor)
+
+ add_executable(vive-diy-position-sensor "${SOURCE_FILES}" "${PLATFORM_SPECIFIC_SOURCE_FILES}")
+ add_firmware_targets(vive-diy-position-sensor)
+
+ import_cmsis_dsp_library(vive-diy-position-sensor)
+ import_arduino_library(vive-diy-position-sensor mavlink_v2)
+
+else()
+ project(vive-diy-position-sensor)
+ include(CTest)
+
+ # Compile 32 bit code
+ add_compile_options("-m32")
+ link_libraries("-m32")
+ if (CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+ add_compile_options("-Wno-deprecated-register" "-Wno-unknown-attributes")
+ endif()
+
+ # Compile CMSIS as a library.
+ set(CMSIS_ROOT "${CMAKE_SOURCE_DIR}/libs/CMSIS/CMSIS" CACHE PATH "Path to the CMSIS root directory")
+ file(GLOB_RECURSE CMSIS_CORE_FILES "${CMSIS_ROOT}/DSP_Lib/Source/*_f32.c")
+ add_library(CMSIS "${CMSIS_CORE_FILES}" "${CMSIS_ROOT}/DSP_Lib/Source/CommonTables/arm_common_tables.c")
+ target_compile_definitions(CMSIS PUBLIC "-DARM_MATH_CM4")
+ link_libraries(CMSIS)
 
-import_cmsis_dsp_library(vive-diy-position-sensor)
-import_arduino_library(vive-diy-position-sensor mavlink_v2)
+ # We have only one test executable
+ add_definitions("-DNEW_H") # Don't include new.h header as it defines non-standard operator new().
+ include_directories("libs/Catch" "libs/CMSIS/CMSIS/Include" "libs/cores/teensy3" "libs/mavlink_v2" "src")
+ add_executable(main-test "${TEST_SOURCE_FILES}" "${SOURCE_FILES}")
+ add_test(main-test main-test)
+endif()

cmake-variants.json

@@ -0,0 +1,26 @@
+{
+ "buildType": {
+ "default$": "debug",
+ "description$": "the build type to use",
+ "debug": {
+ "oneWordSummary$": "Debug",
+ "description$": "Enable optimizations, include debug info",
+ "buildType": "Debug"
+ },
+ "release": {
+ "oneWordSummary$": "Release",
+ "description$": "Enable optimizations, omit debug info",
+ "buildType": "Release"
+ },
+ "test": {
+ "oneWordSummary$": "Test",
+ "description$": "Test the project",
+ "buildType": "Debug",
+ "settings": {
+ "TEST_MODE": "TRUE",
+ "CMAKE_C_COMPILER": "/usr/local/bin/gcc-6",
+ "CMAKE_CXX_COMPILER": "/usr/local/bin/g++-6"
+ }
+ }
+ }
+}