From 2a18401d21b4dd09348ea0e7cd1001d6817c27a5 Mon Sep 17 00:00:00 2001
From: Martin Budden <mjbudden@gmail.com>
Date: Wed, 21 Dec 2016 22:44:57 +0000
Subject: [PATCH] Unit test tidy

---
 src/test/Makefile                          | 291 ++++++++++++---------
 src/test/unit/parameter_group.ld           |  22 ++
 src/test/unit/parameter_groups_unittest.cc |   5 +-
 3 files changed, 194 insertions(+), 124 deletions(-)
 create mode 100644 src/test/unit/parameter_group.ld

diff --git a/src/test/Makefile b/src/test/Makefile
index 9ce4d742e6..91dec1c074 100644
--- a/src/test/Makefile
+++ b/src/test/Makefile
@@ -48,6 +48,14 @@ COVERAGE_FLAGS := --coverage
 C_FLAGS   += $(COVERAGE_FLAGS)
 CXX_FLAGS += $(COVERAGE_FLAGS)
 
+# Determine the OS and set up the parameter group linker flags accordingly
+UNAME := $(shell uname -s)
+ifeq ($(UNAME), Darwin)
+PG_FLAGS = -Wl,-map,$(OBJECT_DIR)/$@.map
+else
+PG_FLAGS = -Wl,-T,$(TEST_DIR)/parameter_group.ld -Wl,-Map,$(OBJECT_DIR)/$@.map
+endif
+
 # Gather up all of the tests.
 TEST_SRC = $(sort $(wildcard $(TEST_DIR)/*.cc))
 TESTS = $(TEST_SRC:$(TEST_DIR)/%.cc=%)
@@ -59,11 +67,14 @@ GTEST_HEADERS = $(GTEST_DIR)/inc/gtest/*.h
 
 # House-keeping build targets.
 
+## all         : Build all Unit Tests (Default goal)
 all : $(TEST_BINARIES)
 
+## clean       : Cleanup the UnitTest binaries.
 clean :
 	rm -rf $(OBJECT_DIR)
 
+
 # Builds gtest.a and gtest_main.a.
 
 # Usually you shouldn't tweak such internal variables, indicated by a
@@ -110,13 +121,19 @@ $(OBJECT_DIR)/common/maths.o : \
 	@mkdir -p $(dir $@)
 	$(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/common/maths.c -o $@
 
-$(OBJECT_DIR)/common/typeconversion.o : \
-	$(USER_DIR)/common/typeconversion.c \
-	$(USER_DIR)/common/typeconversion.h \
+$(OBJECT_DIR)/maths_unittest.o : \
+	$(TEST_DIR)/maths_unittest.cc \
 	$(GTEST_HEADERS)
 
 	@mkdir -p $(dir $@)
-	$(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/common/typeconversion.c -o $@
+	$(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/maths_unittest.cc -o $@
+
+$(OBJECT_DIR)/maths_unittest : \
+	$(OBJECT_DIR)/maths_unittest.o \
+	$(OBJECT_DIR)/common/maths.o \
+	$(OBJECT_DIR)/gtest_main.a
+
+	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
 
 $(OBJECT_DIR)/common/filter.o : \
 	$(USER_DIR)/common/filter.c \
@@ -140,54 +157,6 @@ $(OBJECT_DIR)/common_filter_unittest : \
 
 	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
 
-
-$(OBJECT_DIR)/common/streambuf.o : \
-	$(USER_DIR)/common/streambuf.c \
-	$(USER_DIR)/common/streambuf.h \
-	$(GTEST_HEADERS)
-
-	@mkdir -p $(dir $@)
-	$(CC) $(C_FLAGS) $(TEST_CFLAGS) -D'__TARGET__="TEST"' -D'__REVISION__="revision"' -c $(USER_DIR)/common/streambuf.c -o $@
-
-
-$(OBJECT_DIR)/drivers/io.o : \
-	$(USER_DIR)/drivers/io.c \
-	$(USER_DIR)/drivers/io.h \
-	$(GTEST_HEADERS)
-
-	@mkdir -p $(dir $@)
-	$(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/drivers/io.c -o $@
-
-
-$(OBJECT_DIR)/fc/runtime_config.o : \
-	$(USER_DIR)/fc/runtime_config.c \
-	$(USER_DIR)/fc/runtime_config.h \
-	$(GTEST_HEADERS)
-
-	@mkdir -p $(dir $@)
-	$(CC) $(C_FLAGS) $(TEST_CFLAGS) -D'FLASH_SIZE = 128' -DSTM32F10X_MD -c $(USER_DIR)/fc/runtime_config.c -o $@
-
-
-$(OBJECT_DIR)/sensors/battery.o : $(USER_DIR)/sensors/battery.c $(USER_DIR)/sensors/battery.h $(GTEST_HEADERS)
-	@mkdir -p $(dir $@)
-	$(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/sensors/battery.c -o $@
-
-$(OBJECT_DIR)/battery_unittest.o : \
-	$(TEST_DIR)/battery_unittest.cc \
-	$(USER_DIR)/sensors/battery.h \
-	$(GTEST_HEADERS)
-
-	@mkdir -p $(dir $@)
-	$(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $< -o $@
-
-$(OBJECT_DIR)/battery_unittest : \
-	$(OBJECT_DIR)/sensors/battery.o \
-	$(OBJECT_DIR)/common/maths.o \
-	$(OBJECT_DIR)/battery_unittest.o \
-	$(OBJECT_DIR)/gtest_main.a
-
-	$(CXX) $(CXX_FLAGS) $^ -o $@
-
 $(OBJECT_DIR)/common/encoding.o : $(USER_DIR)/common/encoding.c $(USER_DIR)/common/encoding.h $(GTEST_HEADERS)
 	@mkdir -p $(dir $@)
 	$(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/common/encoding.c -o $@
@@ -207,6 +176,37 @@ $(OBJECT_DIR)/encoding_unittest : \
 
 	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
 
+$(OBJECT_DIR)/common/typeconversion.o : \
+	$(USER_DIR)/common/typeconversion.c \
+	$(USER_DIR)/common/typeconversion.h \
+	$(GTEST_HEADERS)
+
+	@mkdir -p $(dir $@)
+	$(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/common/typeconversion.c -o $@
+
+$(OBJECT_DIR)/type_conversion_unittest.o : \
+	$(TEST_DIR)/type_conversion_unittest.cc \
+	$(USER_DIR)/common/typeconversion.h \
+	$(GTEST_HEADERS)
+
+	@mkdir -p $(dir $@)
+	$(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/type_conversion_unittest.cc -o $@
+
+$(OBJECT_DIR)/type_conversion_unittest : \
+	$(OBJECT_DIR)/common/typeconversion.o \
+	$(OBJECT_DIR)/type_conversion_unittest.o \
+	$(OBJECT_DIR)/gtest_main.a
+
+	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
+
+$(OBJECT_DIR)/fc/runtime_config.o : \
+	$(USER_DIR)/fc/runtime_config.c \
+	$(USER_DIR)/fc/runtime_config.h \
+	$(GTEST_HEADERS)
+
+	@mkdir -p $(dir $@)
+	$(CC) $(C_FLAGS) $(TEST_CFLAGS) -D'FLASH_SIZE = 128' -DSTM32F10X_MD -c $(USER_DIR)/fc/runtime_config.c -o $@
+
 $(OBJECT_DIR)/flight/imu.o : \
 	$(USER_DIR)/flight/imu.c \
 	$(USER_DIR)/flight/imu.h \
@@ -232,20 +232,6 @@ $(OBJECT_DIR)/flight_imu_unittest : \
 
 	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
 
-$(OBJECT_DIR)/maths_unittest.o : \
-	$(TEST_DIR)/maths_unittest.cc \
-	$(GTEST_HEADERS)
-
-	@mkdir -p $(dir $@)
-	$(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/maths_unittest.cc -o $@
-
-$(OBJECT_DIR)/maths_unittest : \
-	$(OBJECT_DIR)/maths_unittest.o \
-	$(OBJECT_DIR)/common/maths.o \
-	$(OBJECT_DIR)/gtest_main.a
-
-	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
-
 $(OBJECT_DIR)/flight/altitudehold.o : \
 	$(USER_DIR)/flight/altitudehold.c \
 	$(USER_DIR)/flight/altitudehold.h \
@@ -295,6 +281,65 @@ $(OBJECT_DIR)/gps_conversion_unittest : \
 
 
 
+$(OBJECT_DIR)/flight/mixer.o : \
+	$(USER_DIR)/flight/mixer.c \
+	$(USER_DIR)/flight/mixer.h \
+	$(GTEST_HEADERS)
+
+	@mkdir -p $(dir $@)
+	$(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/flight/mixer.c -o $@
+
+$(OBJECT_DIR)/flight/servos.o : \
+	$(USER_DIR)/flight/servos.c \
+	$(USER_DIR)/flight/servos.h \
+	$(GTEST_HEADERS)
+
+	@mkdir -p $(dir $@)
+	$(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/flight/servos.c -o $@
+
+$(OBJECT_DIR)/flight_mixer_unittest.o : \
+	$(TEST_DIR)/flight_mixer_unittest.cc \
+	$(USER_DIR)/flight/mixer.h \
+	$(GTEST_HEADERS)
+
+	@mkdir -p $(dir $@)
+	$(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/flight_mixer_unittest.cc -o $@
+
+$(OBJECT_DIR)/flight_mixer_unittest : \
+	$(OBJECT_DIR)/flight/mixer.o \
+	$(OBJECT_DIR)/flight/servos.o \
+	$(OBJECT_DIR)/flight_mixer_unittest.o \
+	$(OBJECT_DIR)/common/maths.o \
+	$(OBJECT_DIR)/gtest_main.a
+
+	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
+
+$(OBJECT_DIR)/flight/failsafe.o : \
+	$(USER_DIR)/flight/failsafe.c \
+	$(USER_DIR)/flight/failsafe.h \
+	$(GTEST_HEADERS)
+
+	@mkdir -p $(dir $@)
+	$(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/flight/failsafe.c -o $@
+
+$(OBJECT_DIR)/flight_failsafe_unittest.o : \
+	$(TEST_DIR)/flight_failsafe_unittest.cc \
+	$(USER_DIR)/flight/failsafe.h \
+	$(GTEST_HEADERS)
+
+	@mkdir -p $(dir $@)
+	$(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/flight_failsafe_unittest.cc -o $@
+
+$(OBJECT_DIR)/flight_failsafe_unittest : \
+	$(OBJECT_DIR)/flight/failsafe.o \
+	$(OBJECT_DIR)/flight_failsafe_unittest.o \
+	$(OBJECT_DIR)/common/maths.o \
+	$(OBJECT_DIR)/gtest_main.a
+
+	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
+
+
+
 $(OBJECT_DIR)/telemetry/hott.o : \
 	$(USER_DIR)/telemetry/hott.c \
 	$(USER_DIR)/telemetry/hott.h \
@@ -320,18 +365,17 @@ $(OBJECT_DIR)/telemetry_hott_unittest : \
 	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
 
 
-
-$(OBJECT_DIR)/io/rc_controls.o : \
-	$(USER_DIR)/io/rc_controls.c \
-	$(USER_DIR)/io/rc_controls.h \
+$(OBJECT_DIR)/fc/rc_controls.o : \
+	$(USER_DIR)/fc/rc_controls.c \
+	$(USER_DIR)/fc/rc_controls.h \
 	$(GTEST_HEADERS)
 
 	@mkdir -p $(dir $@)
-	$(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/io/rc_controls.c -o $@
+	$(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/fc/rc_controls.c -o $@
 
 $(OBJECT_DIR)/rc_controls_unittest.o : \
 	$(TEST_DIR)/rc_controls_unittest.cc \
-	$(USER_DIR)/io/rc_controls.h \
+	$(USER_DIR)/fc/rc_controls.h \
 	$(GTEST_HEADERS)
 
 	@mkdir -p $(dir $@)
@@ -339,7 +383,7 @@ $(OBJECT_DIR)/rc_controls_unittest.o : \
 
 $(OBJECT_DIR)/rc_controls_unittest : \
 	$(OBJECT_DIR)/common/maths.o \
-	$(OBJECT_DIR)/io/rc_controls.o \
+	$(OBJECT_DIR)/fc/rc_controls.o \
 	$(OBJECT_DIR)/rc_controls_unittest.o \
 	$(OBJECT_DIR)/gtest_main.a
 
@@ -395,54 +439,6 @@ $(OBJECT_DIR)/ws2811_unittest : \
 	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
 
 
-$(OBJECT_DIR)/flight/mixer.o : \
-	$(USER_DIR)/flight/mixer.c \
-	$(USER_DIR)/flight/mixer.h \
-	$(GTEST_HEADERS)
-
-	@mkdir -p $(dir $@)
-	$(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/flight/mixer.c -o $@
-
-$(OBJECT_DIR)/flight_mixer_unittest.o : \
-	$(TEST_DIR)/flight_mixer_unittest.cc \
-	$(USER_DIR)/flight/mixer.h \
-	$(GTEST_HEADERS)
-
-	@mkdir -p $(dir $@)
-	$(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/flight_mixer_unittest.cc -o $@
-
-$(OBJECT_DIR)/flight_mixer_unittest : \
-	$(OBJECT_DIR)/flight/mixer.o \
-	$(OBJECT_DIR)/flight_mixer_unittest.o \
-	$(OBJECT_DIR)/common/maths.o \
-	$(OBJECT_DIR)/gtest_main.a
-
-	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
-
-$(OBJECT_DIR)/flight/failsafe.o : \
-	$(USER_DIR)/flight/failsafe.c \
-	$(USER_DIR)/flight/failsafe.h \
-	$(GTEST_HEADERS)
-
-	@mkdir -p $(dir $@)
-	$(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/flight/failsafe.c -o $@
-
-$(OBJECT_DIR)/flight_failsafe_unittest.o : \
-	$(TEST_DIR)/flight_failsafe_unittest.cc \
-	$(USER_DIR)/flight/failsafe.h \
-	$(GTEST_HEADERS)
-
-	@mkdir -p $(dir $@)
-	$(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/flight_failsafe_unittest.cc -o $@
-
-$(OBJECT_DIR)/flight_failsafe_unittest : \
-	$(OBJECT_DIR)/flight/failsafe.o \
-	$(OBJECT_DIR)/flight_failsafe_unittest.o \
-	$(OBJECT_DIR)/common/maths.o \
-	$(OBJECT_DIR)/gtest_main.a
-
-	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
-
 $(OBJECT_DIR)/io/serial.o : \
 	$(USER_DIR)/io/serial.c \
 	$(USER_DIR)/io/serial.h \
@@ -563,6 +559,27 @@ $(OBJECT_DIR)/rx_ranges_unittest : \
 
 	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
 
+
+$(OBJECT_DIR)/sensors/battery.o : $(USER_DIR)/sensors/battery.c $(USER_DIR)/sensors/battery.h $(GTEST_HEADERS)
+	@mkdir -p $(dir $@)
+	$(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/sensors/battery.c -o $@
+
+$(OBJECT_DIR)/battery_unittest.o : \
+	$(TEST_DIR)/battery_unittest.cc \
+	$(USER_DIR)/sensors/battery.h \
+	$(GTEST_HEADERS)
+
+	@mkdir -p $(dir $@)
+	$(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $< -o $@
+
+$(OBJECT_DIR)/battery_unittest : \
+	$(OBJECT_DIR)/sensors/battery.o \
+	$(OBJECT_DIR)/common/maths.o \
+	$(OBJECT_DIR)/battery_unittest.o \
+	$(OBJECT_DIR)/gtest_main.a
+
+	$(CXX) $(CXX_FLAGS) $^ -o $@
+
 $(OBJECT_DIR)/drivers/barometer_ms5611.o : \
     $(USER_DIR)/drivers/barometer_ms5611.c \
     $(USER_DIR)/drivers/barometer_ms5611.h \
@@ -658,6 +675,30 @@ $(OBJECT_DIR)/alignsensor_unittest : \
 	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
 
 
+$(OBJECT_DIR)/build/version.o : \
+	$(USER_DIR)/build/version.c \
+	$(USER_DIR)/build/version.h \
+	$(GTEST_HEADERS)
+
+	@mkdir -p $(dir $@)
+	$(CC) $(C_FLAGS) $(TEST_CFLAGS) -D'__TARGET__="TEST"' -D'__REVISION__="revision"' -c $(USER_DIR)/build/version.c -o $@
+
+$(OBJECT_DIR)/drivers/buf_writer.o : \
+	$(USER_DIR)/drivers/buf_writer.c \
+	$(USER_DIR)/drivers/buf_writer.h \
+	$(GTEST_HEADERS)
+
+	@mkdir -p $(dir $@)
+	$(CC) $(C_FLAGS) $(TEST_CFLAGS) -D'__TARGET__="TEST"' -D'__REVISION__="revision"' -c $(USER_DIR)/drivers/buf_writer.c -o $@
+
+$(OBJECT_DIR)/common/streambuf.o : \
+	$(USER_DIR)/common/streambuf.c \
+	$(USER_DIR)/common/streambuf.h \
+	$(GTEST_HEADERS)
+
+	@mkdir -p $(dir $@)
+	$(CC) $(C_FLAGS) $(TEST_CFLAGS) -D'__TARGET__="TEST"' -D'__REVISION__="revision"' -c $(USER_DIR)/common/streambuf.c -o $@
+
 $(OBJECT_DIR)/drivers/display.o : \
 	$(USER_DIR)/drivers/display.c \
 	$(USER_DIR)/drivers/display.h \
@@ -690,6 +731,14 @@ $(OBJECT_DIR)/cms_unittest : \
 
 	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
 
+$(OBJECT_DIR)/drivers/io.o : \
+	$(USER_DIR)/drivers/io.c \
+	$(USER_DIR)/drivers/io.h \
+	$(GTEST_HEADERS)
+
+	@mkdir -p $(dir $@)
+	$(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/drivers/io.c -o $@
+
 $(OBJECT_DIR)/config/parameter_group.o : \
 	$(USER_DIR)/config/parameter_group.c \
 	$(USER_DIR)/config/parameter_group.h \
diff --git a/src/test/unit/parameter_group.ld b/src/test/unit/parameter_group.ld
new file mode 100644
index 0000000000..86487d2899
--- /dev/null
+++ b/src/test/unit/parameter_group.ld
@@ -0,0 +1,22 @@
+
+SECTIONS {
+  /* BLOCK: on Windows (PE) output section must be page-aligned. Use 4-byte alignment otherwise */
+  /* SUBALIGN: force 4-byte alignment of input sections for pg_registry.
+     Gcc defaults to 32 bytes; padding is then inserted between object files, breaking the init structure. */
+  .pg_registry BLOCK( DEFINED(__section_alignment__) ? __section_alignment__ : 4 ) :   SUBALIGN(4)
+  {
+    PROVIDE_HIDDEN (__pg_registry_start = . );
+    PROVIDE_HIDDEN (___pg_registry_start = . );
+    KEEP (*(.pg_registry))
+    KEEP (*(SORT(.pg_registry.*)))
+    PROVIDE_HIDDEN (__pg_registry_end = . );
+    PROVIDE_HIDDEN (___pg_registry_end = . );
+
+    PROVIDE_HIDDEN (__pg_resetdata_start = . );
+    PROVIDE_HIDDEN (___pg_resetdata_start = . );
+    KEEP (*(.pg_resetdata))
+    PROVIDE_HIDDEN (__pg_resetdata_end = . );
+    PROVIDE_HIDDEN (___pg_resetdata_end = . );
+  }
+}
+INSERT AFTER .text;
diff --git a/src/test/unit/parameter_groups_unittest.cc b/src/test/unit/parameter_groups_unittest.cc
index 5618375fbe..df45a1829c 100644
--- a/src/test/unit/parameter_groups_unittest.cc
+++ b/src/test/unit/parameter_groups_unittest.cc
@@ -31,8 +31,6 @@ extern "C" {
 
     #include "io/motors.h"
 
-}
-
 PG_DECLARE(motorConfig_t, motorConfig);
 
 PG_REGISTER_WITH_RESET_TEMPLATE(motorConfig_t, motorConfig, PG_MOTOR_CONFIG, 1);
@@ -43,6 +41,8 @@ PG_RESET_TEMPLATE(motorConfig_t, motorConfig,
     .mincommand = 1000,
     .motorPwmRate = 400,
 );
+}
+
 
 #include "unittest_macros.h"
 #include "gtest/gtest.h"
@@ -88,6 +88,5 @@ TEST(ParameterGroupsfTest, Test_pgFind)
 // STUBS
 
 extern "C" {
-
 }