adding coverage to tests

CMakeLists.txt

@@ -163,6 +163,9 @@ target_link_libraries(MrsUavManagers_TransformManager
 
 if(CATKIN_ENABLE_TESTING)
 
+  set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} --coverage")
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} --coverage")
+
   add_subdirectory(test)
 
 endif()

test/all_tests.sh

@@ -13,12 +13,14 @@ VERBOSE=1
 
 # build the package
 catkin build $PACKAGE # it has to be fully built normally before building with --catkin-make-args tests
-catkin build $PACKAGE --catkin-make-args tests
+catkin build $PACKAGE --no-deps --catkin-make-args tests
 
 TEST_FILES=$(find . -name "*.test" -type f -printf "%f\n")
 
 for TEST_FILE in `echo $TEST_FILES`; do
 
+  echo "$0: running test '$TEST_FILE'"
+
   # folder for test results
   TEST_RESULT_PATH=$(realpath /tmp/$RANDOM)
   mkdir -p $TEST_RESULT_PATH

test/control_manager/failsafe_control_error/config/custom_config.yaml

@@ -19,5 +19,5 @@ mrs_uav_managers:
 
     MpcController:
       eland_threshold: 0.0 # [m], position error triggering eland
-      failsafe_threshold: 0.2 # [m], position error triggering failsafe land
+      failsafe_threshold: 0.1 # [m], position error triggering failsafe land
       odometry_innovation_threshold: 0.0 # [m], position odometry innovation threshold

test/coverage.sh

@@ -0,0 +1,12 @@
+#!/bin/bash
+
+cd ~/hw_api/test_workspace/build
+
+lcov --capture --directory . --output-file coverage.info
+lcov --remove coverage.info "*/test/" --output-file coverage.info.removed
+lcov --extract coverage.info.removed "*/*workspace/*" --output-file coverage.info.cleaned
+genhtml -o coverage_html coverage.info.cleaned | tee /tmp/genhtml.log
+
+COVERAGE_PCT=`cat /tmp/genhtml.log | tail -n 1 | awk '{print $2}'`
+
+echo "Coverage: $COVERAGE_PCT"

test/single_test.sh

@@ -13,14 +13,14 @@ VERBOSE=1
 
 # build the package
 catkin build $PACKAGE # it has to be fully built normally before building with --catkin-make-args tests
-catkin build $PACKAGE --catkin-make-args tests
+catkin build $PACKAGE --no-deps --catkin-make-args tests
 
 # folder for test results
 TEST_RESULT_PATH=$(realpath /tmp/$RANDOM)
 mkdir -p $TEST_RESULT_PATH
 
 # run the test
-rostest $PACKAGE uav_manager_takeoff.test $TEXT_OUTPUT --results-filename=$PACKAGE.test --results-base-dir="$TEST_RESULT_PATH"
+rostest $PACKAGE control_manager_eland_control_error.test $TEXT_OUTPUT --results-filename=$PACKAGE.test --results-base-dir="$TEST_RESULT_PATH"
 
 # evaluate the test results
 echo test result path is $TEST_RESULT_PATH