From 15d9eaffd4c44e7c2687cdec2bbcb9564f2025e6 Mon Sep 17 00:00:00 2001
From: Anders Hoglund <AndWho@gmail.com>
Date: Sun, 16 Oct 2016 17:48:31 +0200
Subject: [PATCH] Added junittest XML test results.

---
 Makefile                              |  5 +++--
 src/test/Makefile                     | 31 ++++++++++++++++++++++++++-
 src/test/unit/alignsensor_unittest.cc | 12 +++++------
 3 files changed, 39 insertions(+), 9 deletions(-)

diff --git a/Makefile b/Makefile
index 693928da0f..1266aadf75 100644
--- a/Makefile
+++ b/Makefile
@@ -826,8 +826,9 @@ targets:
 	$(V0) @echo "Base target:   $(BASE_TARGET)"
 
 ## test              : run the cleanflight test suite
-test:
-	$(V0) cd src/test && $(MAKE) test || true
+## junittest         : run the cleanflight test suite, producing Junit XML result files.
+test junittest:
+	$(V0) cd src/test && $(MAKE) $@  || true
 
 # rebuild everything when makefile changes
 $(TARGET_OBJS) : Makefile
diff --git a/src/test/Makefile b/src/test/Makefile
index 72bc15d975..bc98d05f2d 100644
--- a/src/test/Makefile
+++ b/src/test/Makefile
@@ -42,6 +42,12 @@ C_FLAGS = $(COMMON_FLAGS) \
 CXX_FLAGS = $(COMMON_FLAGS) \
 	-std=gnu++11
 
+# Compiler flags for coverage instrumentation
+COVERAGE_FLAGS := --coverage
+
+C_FLAGS   += $(COVERAGE_FLAGS)
+CXX_FLAGS += $(COVERAGE_FLAGS)
+
 # Gather up all of the tests.
 TEST_SRC = $(sort $(wildcard $(TEST_DIR)/*.cc))
 TESTS = $(TEST_SRC:$(TEST_DIR)/%.cc=%)
@@ -545,9 +551,32 @@ $(OBJECT_DIR)/alignsensor_unittest : \
 
 	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
 
+
+## test        : Build and run the Unit Tests
 test: $(TESTS:%=test-%)
 
+## junittest   : Build and run the Unit Tests, producing Junit XML result files."
+junittest: EXEC_OPTS = "--gtest_output=xml:$<_results.xml" 
+junittest: $(TESTS:%=test-%)
+
 test-%: $(OBJECT_DIR)/%
-	$<
+	$< $(EXEC_OPTS)
+
+## help        : print this help message and exit
+## what        : print this help message and exit
+## usage       : print this help message and exit
+help what usage: Makefile
+	@echo ""
+	@echo "Makefile for Unit Tests"
+	@echo ""
+	@echo "Usage:"
+	@echo "        make [goal] "
+	@echo ""
+	@echo "Valid goals are:"
+	@echo ""
+	@sed -n 's/^## //p' $<
+	@echo ""
+	@echo "Any of the Unit Test programs can be used as goals:"
+	@$(foreach prg, $(TEST_BINARIES), echo "    $(prg)";)
 
 -include $(DEPS)
diff --git a/src/test/unit/alignsensor_unittest.cc b/src/test/unit/alignsensor_unittest.cc
index 9c99e1dba8..17e0bf29f4 100644
--- a/src/test/unit/alignsensor_unittest.cc
+++ b/src/test/unit/alignsensor_unittest.cc
@@ -41,7 +41,7 @@ extern "C" {
 
 static void rotateVector(int32_t mat[3][3], int32_t vec[3], int32_t *out)
 {
-    int16_t tmp[3];
+    int32_t tmp[3];
 
     for(int i=0; i<3; i++) {
         tmp[i] = 0;
@@ -56,7 +56,7 @@ static void rotateVector(int32_t mat[3][3], int32_t vec[3], int32_t *out)
 
 }
 
-//static void initXAxisRotation(int32_t mat[][3], int16_t angle)
+//static void initXAxisRotation(int32_t mat[][3], int32_t angle)
 //{
 //    mat[0][0] =  1;
 //    mat[0][1] =  0;
@@ -69,7 +69,7 @@ static void rotateVector(int32_t mat[3][3], int32_t vec[3], int32_t *out)
 //    mat[2][2] =  cos(angle*DEG2RAD);
 //}
 
-static void initYAxisRotation(int32_t mat[][3], int16_t angle)
+static void initYAxisRotation(int32_t mat[][3], int32_t angle)
 {
     mat[0][0] =  cos(angle*DEG2RAD);
     mat[0][1] =  0;
@@ -82,7 +82,7 @@ static void initYAxisRotation(int32_t mat[][3], int16_t angle)
     mat[2][2] =  cos(angle*DEG2RAD);
 }
 
-static void initZAxisRotation(int32_t mat[][3], int16_t angle)
+static void initZAxisRotation(int32_t mat[][3], int32_t angle)
 {
     mat[0][0] =  cos(angle*DEG2RAD);
     mat[0][1] = -sin(angle*DEG2RAD);
@@ -95,7 +95,7 @@ static void initZAxisRotation(int32_t mat[][3], int16_t angle)
     mat[2][2] =  1;
 }
 
-static void testCW(sensor_align_e rotation, int16_t angle)
+static void testCW(sensor_align_e rotation, int32_t angle)
 {
     int32_t src[XYZ_AXIS_COUNT];
     int32_t dest[XYZ_AXIS_COUNT];
@@ -153,7 +153,7 @@ static void testCW(sensor_align_e rotation, int16_t angle)
  * Since the order of flip and rotation matters, these tests make the
  * assumption that the 'flip' occurs first, followed by clockwise rotation
  */
-static void testCWFlip(sensor_align_e rotation, int16_t angle)
+static void testCWFlip(sensor_align_e rotation, int32_t angle)
 {
     int32_t src[XYZ_AXIS_COUNT];
     int32_t dest[XYZ_AXIS_COUNT];