Merge pull request #212 from tritonuas/fix/unit_tests_handler_macro

AskewParity · web-flow · commit aded5d025d59 · 2024-10-16T20:49:53.000-07:00
Fix unit tests using GCS Handler Macro
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -118,31 +118,11 @@ add_subdirectory(src)
 # =============================
 
 # =============================
-# Integration tests
+# Tests
 
-add_subdirectory(tests/integration)
-
-# cuda_check
-add_executable(cuda_check ${SOURCES} tests/integration/cuda_check.cpp)
-target_add_torch(cuda_check)
-target_add_json(cuda_check)
-target_add_httplib(cuda_check)
-target_add_mavsdk(cuda_check)
-target_add_matplot(cuda_check)
-target_add_protobuf(cuda_check)
-target_add_opencv(cuda_check)
-target_add_loguru(cuda_check)
-# for some reason calling target_add_imagemagick here conflicts with, so we are including/linking without the function call
-# target_add_imagemagick(cuda_check)
-target_include_directories(cuda_check PRIVATE ${ImageMagick_INCLUDE_DIRS})
-target_link_libraries(cuda_check PRIVATE -Wl,--copy-dt-needed-entries ${ImageMagick_LIBRARIES})
-
-# =============================
-
-# =============================
-# Unit tests
-add_subdirectory(tests/unit)
 add_subdirectory(${DEPS_DIRECTORY}/google-test)
+add_subdirectory(tests)
+
 # =============================
 
 # =============================
diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt
@@ -0,0 +1,8 @@
+# so everything in unit and integration tests can include header files in this directory
+include_directories(util)
+
+add_compile_definitions(CONFIG_DIRECTORY="${PROJECT_SOURCE_DIR}/configs")
+
+add_subdirectory(integration)
+
+add_subdirectory(unit)
diff --git a/tests/integration/CMakeLists.txt b/tests/integration/CMakeLists.txt
@@ -283,3 +283,18 @@ target_add_matplot(camera_mock)
 target_add_loguru(camera_mock)
 target_include_directories(camera_mock PRIVATE ${ImageMagick_INCLUDE_DIRS})
 target_link_libraries(camera_mock PRIVATE -Wl,--copy-dt-needed-entries ${ImageMagick_LIBRARIES})
+
+# cuda_check
+add_executable(cuda_check ${SOURCES} cuda_check.cpp)
+target_add_torch(cuda_check)
+target_add_json(cuda_check)
+target_add_httplib(cuda_check)
+target_add_mavsdk(cuda_check)
+target_add_matplot(cuda_check)
+target_add_protobuf(cuda_check)
+target_add_opencv(cuda_check)
+target_add_loguru(cuda_check)
+# for some reason calling target_add_imagemagick here conflicts with, so we are including/linking without the function call
+# target_add_imagemagick(cuda_check)
+target_include_directories(cuda_check PRIVATE ${ImageMagick_INCLUDE_DIRS})
+target_link_libraries(cuda_check PRIVATE -Wl,--copy-dt-needed-entries ${ImageMagick_LIBRARIES})
diff --git a/tests/integration/airdrop_approach.cpp b/tests/integration/airdrop_approach.cpp
@@ -20,15 +20,7 @@
 #include "utilities/datatypes.hpp"
 #include "utilities/http.hpp"
 
-#define DECLARE_HANDLER_PARAMS(STATE, REQ, RESP) \
-    int argc = 2; \
-    char path1[] = "bin/obcpp"; \
-    char path2[] = "../configs/dev-config.json"; \
-    char *paths[] = {path1, path2}; \
-    char **paths_ptr = paths; \
-    std::shared_ptr<MissionState> STATE = std::make_shared<MissionState>(OBCConfig(argc, paths_ptr)); \
-    httplib::Request REQ; \
-    httplib::Response RESP 
+#include "handler_params.hpp"
 
 const static char* mission_json_2024 = R"(
 {
diff --git a/tests/integration/coverage_pathing.cpp b/tests/integration/coverage_pathing.cpp
@@ -20,16 +20,8 @@
 #include "utilities/datatypes.hpp"
 #include "utilities/http.hpp"
 
-#define DECLARE_HANDLER_PARAMS(STATE, REQ, RESP)                    \
-    int argc = 2;                                                   \
-    char path1[] = "bin/obcpp";                                     \
-    char path2[] = "../configs/dev-config.json";                    \
-    char *paths[] = {path1, path2};                                 \
-    char **paths_ptr = paths;                                       \
-    std::shared_ptr<MissionState> STATE =                           \
-        std::make_shared<MissionState>(OBCConfig(argc, paths_ptr)); \
-    httplib::Request REQ;                                           \
-    httplib::Response RESP
+#include "handler_params.hpp"
+
 
 const static char *mission_json_2020 = R"(
 {
diff --git a/tests/integration/coverage_pathing_2.cpp b/tests/integration/coverage_pathing_2.cpp
@@ -20,16 +20,7 @@
 #include "utilities/datatypes.hpp"
 #include "utilities/http.hpp"
 
-#define DECLARE_HANDLER_PARAMS(STATE, REQ, RESP)                    \
-    int argc = 2;                                                   \
-    char path1[] = "bin/obcpp";                                     \
-    char path2[] = "../configs/dev-config.json";                    \
-    char* paths[] = {path1, path2};                                 \
-    char** paths_ptr = paths;                                       \
-    std::shared_ptr<MissionState> STATE =                           \
-        std::make_shared<MissionState>(OBCConfig(argc, paths_ptr)); \
-    httplib::Request REQ;                                           \
-    httplib::Response RESP
+#include "handler_params.hpp"
 
 const static char* mission_json_2024 = R"(
 {
diff --git a/tests/integration/path_planning.cpp b/tests/integration/path_planning.cpp
@@ -20,15 +20,7 @@
 #include "utilities/datatypes.hpp"
 #include "utilities/http.hpp"
 
-#define DECLARE_HANDLER_PARAMS(STATE, REQ, RESP) \
-    int argc = 2; \
-    char path1[] = "bin/obcpp"; \
-    char path2[] = "../configs/dev-config.json"; \
-    char *paths[] = {path1, path2}; \
-    char **paths_ptr = paths; \
-    std::shared_ptr<MissionState> STATE = std::make_shared<MissionState>(OBCConfig(argc, paths_ptr)); \
-    httplib::Request REQ; \
-    httplib::Response RESP 
+#include "handler_params.hpp"
 
 const static char* mission_json_2020 = R"(
 {
diff --git a/tests/unit/gcs_server_test.cpp b/tests/unit/gcs_server_test.cpp
@@ -20,24 +20,7 @@
 #include "ticks/mav_upload.hpp"
 #include "ticks/tick.hpp"
 
-// TODO: figure out why it is seg faulting when running these unit tests and fix it...
-// I think it's something to do with DECLARE_HANDLER_PARAMS not being up to
-// date with updated command line arguments, but after trying to fix that it was
-// stil seg faulting and I want a green checkmark...
-
-/*
-#define DECLARE_HANDLER_PARAMS(STATE, REQ, RESP) \
-    int argc = 2; \
-    char path1[] = "bin/obcpp"; \
-    char path2[] = "../configs"; \
-    char path3[] = "dev"; \
-    char path4[] = "stickbug"; \
-    char path5[] = "sitl"; \
-    char *paths[] = {path1, path2, path3, path4, path5}; \
-    char **paths_ptr = paths; \
-    std::shared_ptr<MissionState> STATE = std::make_shared<MissionState>(OBCConfig(argc, paths_ptr)); \
-    httplib::Request REQ; \
-    httplib::Response RESP 
+#include "handler_params.hpp"
 
 // Might have to change this later on if we preload
 // mission from file
@@ -214,5 +197,4 @@ TEST(GCSServerTest, SetupStateTransitions) {
 
     // todo: figure out way to mock the mav connection
     // so we can validate the path and mock mission upload
-}
-*/
+}
diff --git a/tests/util/handler_params.hpp b/tests/util/handler_params.hpp
@@ -0,0 +1,16 @@
+#ifndef TESTS_HELPERS_HPP_
+#define TESTS_HELPERS_HPP_
+
+#define DECLARE_HANDLER_PARAMS(STATE, REQ, RESP) \
+    int argc = 5; \
+    char argv0[] = "bin/obcpp"; \
+    char argv1[] = CONFIG_DIRECTORY; \
+    char argv2[] = "dev"; \
+    char argv3[] = "stickbug"; \
+    char argv4[] = "sitl"; \
+    char *argv[] = {argv0, argv1, argv2, argv3, argv4, nullptr }; \
+    std::shared_ptr<MissionState> STATE = std::make_shared<MissionState>(OBCConfig(argc, argv)); \
+    httplib::Request REQ; \
+    httplib::Response RESP 
+
+#endif  // TESTS_HELPERS_HPP_
