CI: get more examples working

Tools/autotest/examples.py

@@ -51,7 +51,7 @@ def run_example(filepath, valgrind=False, gdb=False):
 
 
 def run_examples(debug=False, valgrind=False, gdb=False):
-    dirpath = util.reltopdir(os.path.join('build', 'linux', 'examples'))
+    dirpath = util.reltopdir(os.path.join('build', 'sitl', 'examples'))
 
     print("Running Hello")
     # explicitly run helloworld and check for output

Tools/scripts/build_ci.sh

@@ -176,7 +176,7 @@ for t in $CI_BUILD_TARGET; do
     fi
 
     if [ "$t" == "examples" ]; then
-        ./waf configure --board=linux --debug
+        ./waf configure --board=sitl --debug
         ./waf examples
         run_autotest "Examples" "--no-clean" "run.examples"
         continue

libraries/AP_HAL_SITL/SITL_cmdline.cpp

@@ -37,6 +37,7 @@
 #include <SITL/SIM_Webots_Python.h>
 #include <SITL/SIM_JSON.h>
 #include <SITL/SIM_Blimp.h>
+#include <SITL/SIM_NoVehicle.h>
 #include <AP_Filesystem/AP_Filesystem.h>
 
 #include <AP_Vehicle/AP_Vehicle_Type.h>
@@ -181,6 +182,7 @@ static const struct {
     { "webots",             Webots::create },
     { "JSON",               JSON::create },
     { "blimp",              Blimp::create },
+    { "novehicle",          NoVehicle::create },
 };
 
 void SITL_State::_set_signal_handlers(void) const
@@ -239,7 +241,7 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
     static struct timeval first_tv;
     gettimeofday(&first_tv, nullptr);
     time_t start_time_UTC = first_tv.tv_sec;
-    const bool is_replay = APM_BUILD_TYPE(APM_BUILD_Replay);
+    const bool is_example = APM_BUILD_TYPE(APM_BUILD_Replay) || APM_BUILD_TYPE(APM_BUILD_UNKNOWN);
 
     enum long_options {
         CMDLINE_GIMBAL = 1,
@@ -348,8 +350,8 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
         {0, false, 0, 0}
     };
 
-    if (is_replay) {
-        model_str = "quad";
+    if (is_example) {
+        model_str = "novehicle";
         HALSITL::UARTDriver::_console = true;
     }
 
@@ -371,7 +373,7 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
 
     GetOptLong gopt(argc, argv, "hwus:r:CI:P:SO:M:F:c:v:",
                     options);
-    while (!is_replay && (opt = gopt.getoption()) != -1) {
+    while (!is_example && (opt = gopt.getoption()) != -1) {
         switch (opt) {
         case 'w':
             erase_all_storage = true;

libraries/AP_HAL_SITL/Scheduler.cpp

@@ -128,6 +128,11 @@ bool Scheduler::semaphore_wait_hack_required() const
 
 void Scheduler::delay_microseconds(uint16_t usec)
 {
+    if (_sitlState->_sitl == nullptr) {
+        // this allows examples to run
+        hal.scheduler->stop_clock(AP_HAL::micros64()+usec);
+        return;
+    }
     uint64_t start = AP_HAL::micros64();
     do {
         uint64_t dtime = AP_HAL::micros64() - start;
@@ -296,7 +301,7 @@ void Scheduler::_run_io_procs()
 void Scheduler::stop_clock(uint64_t time_usec)
 {
     _stopped_clock_usec = time_usec;
-    if (time_usec - _last_io_run > 10000) {
+    if (_sitlState->_sitl != nullptr && time_usec - _last_io_run > 10000) {
         _last_io_run = time_usec;
         _run_io_procs();
     }

libraries/AP_InertialSensor/AP_InertialSensor.cpp

@@ -1973,6 +1973,13 @@ void AP_InertialSensor::update(void)
  */
 void AP_InertialSensor::wait_for_sample(void)
 {
+#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
+    auto *sitl = AP::sitl();
+    if (sitl == nullptr) {
+        hal.scheduler->delay_microseconds(1000);
+        return;
+    }
+#endif
     if (_have_sample) {
         // the user has called wait_for_sample() again without
         // consuming the sample with update()

libraries/AP_JSON/examples/XPlane/XPlane.cpp

@@ -12,12 +12,16 @@ void loop();
 
 const AP_HAL::HAL& hal = AP_HAL::get_HAL();
 
-static void test_xplane(void)
+static uint32_t test_count;
+static uint32_t label_count;
+
+static bool test_xplane(void)
 {
     const uint32_t m1 = hal.util->available_memory();
     auto *obj = AP_JSON::load_json("@ROMFS/models/xplane_plane.json");
     if (obj == nullptr) {
-        ::printf("Failed to parse json\n");
+        ::printf("Failed to load or parse json\n");
+        return false;
     }
     const uint32_t m2 = hal.util->available_memory();
     ::printf("Used %u bytes\n", unsigned(m1-m2));
@@ -28,8 +32,10 @@ static void test_xplane(void)
          ++i) {
         const char *label = i->first.c_str();
         ::printf("Label: %s\n", label);
+        label_count++;
     }
     delete obj;
+    return label_count > 10;
 }
 
 /*
@@ -43,7 +49,16 @@ void setup(void)
 void loop(void)
 {
     ::printf("Memory: %u\n", (unsigned)hal.util->available_memory());
-    test_xplane();
+    if (test_xplane()) {
+        test_count++;
+    } else {
+        ::printf("Test FAILED\n");
+        exit(1);
+    }
+    if (test_count > 10) {
+        ::printf("Test PASSED\n");
+        exit(0);
+    }
 }
 
 AP_HAL_MAIN();

libraries/AP_Scheduler/AP_Scheduler.cpp

@@ -360,7 +360,7 @@ void AP_Scheduler::loop()
           for testing low CPU conditions we can add an optional delay in SITL
         */
         auto *sitl = AP::sitl();
-        uint32_t loop_delay_us = sitl->loop_delay.get();
+        uint32_t loop_delay_us = sitl? sitl->loop_delay.get() : 1000U;
         hal.scheduler->delay_microseconds(loop_delay_us);
     }
 #endif

libraries/AP_Scheduler/examples/Scheduler_test/Scheduler_test.cpp

@@ -9,6 +9,7 @@
 #include <AP_BoardConfig/AP_BoardConfig.h>
 #include <AP_Logger/AP_Logger.h>
 #include <GCS_MAVLink/GCS_Dummy.h>
+#include <stdio.h>
 
 const struct AP_Param::GroupInfo        GCS_MAVLINK_Parameters::var_info[] = {
     AP_GROUPEND
@@ -26,13 +27,14 @@ class SchedTest {
 
 private:
 
-    AP_InertialSensor ins;
 #if HAL_EXTERNAL_AHRS_ENABLED
     AP_ExternalAHRS eAHRS;
 #endif // HAL_EXTERNAL_AHRS_ENABLED
     AP_Scheduler scheduler;
 
     uint32_t ins_counter;
+    uint32_t count_5s;
+    uint32_t count_1s;
     static const AP_Scheduler::Task scheduler_tasks[];
 
     void ins_update(void);
@@ -81,8 +83,6 @@ void SchedTest::setup(void)
 
     board_config.init();
 
-    ins.init(scheduler.get_loop_rate_hz());
-
     // initialise the scheduler
     scheduler.init(&scheduler_tasks[0], ARRAY_SIZE(scheduler_tasks), (uint32_t)-1);
 }
@@ -91,6 +91,24 @@ void SchedTest::loop(void)
 {
     // run all tasks
     scheduler.loop();
+    if (ins_counter == 1000) {
+        bool ok = true;
+        if (count_5s != 4) {
+            ::printf("ERROR: count_5s=%u\n", (unsigned)count_5s);
+            ok = false;
+        }
+        if (count_1s != 20) {
+            ::printf("ERROR: count_1s=%u\n", (unsigned)count_1s);
+            ok = false;
+        }
+        if (!ok) {
+            ::printf("Test FAILED\n");
+            exit(1);
+        } else {
+            ::printf("Test PASSED\n");
+            exit(0);
+        }
+    }
 }
 
 /*
@@ -99,7 +117,6 @@ void SchedTest::loop(void)
 void SchedTest::ins_update(void)
 {
     ins_counter++;
-    ins.update();
 }
 
 /*
@@ -108,6 +125,7 @@ void SchedTest::ins_update(void)
 void SchedTest::one_hz_print(void)
 {
     hal.console->printf("one_hz: t=%lu\n", (unsigned long)AP_HAL::millis());
+    count_1s++;
 }
 
 /*
@@ -116,6 +134,7 @@ void SchedTest::one_hz_print(void)
 void SchedTest::five_second_call(void)
 {
     hal.console->printf("five_seconds: t=%lu ins_counter=%u\n", (unsigned long)AP_HAL::millis(), (unsigned)ins_counter);
+    count_5s++;
 }
 
 /*
@@ -128,8 +147,10 @@ void setup(void)
 {
     schedtest.setup();
 }
+
 void loop(void)
 {
     schedtest.loop();
 }
+
 AP_HAL_MAIN();

libraries/SITL/SIM_NoVehicle.h

@@ -0,0 +1,40 @@
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+/*
+  empty vehicle for example CI testing
+*/
+
+#pragma once
+
+#include "SIM_Aircraft.h"
+
+namespace SITL {
+
+/*
+  empty vehicle
+ */
+class NoVehicle : public Aircraft {
+public:
+    NoVehicle(const char *frame_str) : Aircraft(frame_str) {}
+
+    void update(const struct sitl_input &input) override {}
+
+    /* static object creator */
+    static Aircraft *create(const char *frame_str) {
+        return new NoVehicle(frame_str);
+    }
+};
+
+} // namespace SITL