Updated unit tests (rake) to be called from make.

The reason is that make manages the build configuration (defines and so on) and we want to reuse them in the unit tests. When rake is called from make, all defines (actually compiler flags) are passed on to rake to be used when building the unit tests.
Also added a light weight “annotation” that allows unit test files to be excluded based on defines.

Makefile

@@ -414,3 +414,6 @@ include tools/make/targets.mk
 
 #include dependencies
 -include $(DEPS)
+
+unit:
+	rake unit "DEFINES=$(CFLAGS)" "FILES=$(FILES)"

README.md

@@ -148,9 +148,37 @@ openocd    : Launch OpenOCD
 
 # Unit testing
 
+## Running all unit tests
+
+With the environment set up locally
+
+        make unit
+        
+with the docker builder image and the toolbelt
+
+        tb make unit
+        
+## Running one unit test
+       
+When working with one specific file it is often convinient to run only one unit test
+
+       make unit FILES=test/utils/src/TestNum.c
+
+or with the toolbelt        
+
+       tb make unit FILES=test/utils/src/TestNum.c
+              
+## Running unit tests with specific build settings
+      
+Defines are managed by make and are passed on to the unit test code. Use the 
+normal ways of configuring make when running tests. For instance to run test
+for Crazyflie 1
+
+      make unit PLATFORM=CF1
+
 ## Dependencies
 
-Frameworks for unit testing are pulled in as git submodules.
+Frameworks for unit testing and mocking are pulled in as git submodules.
 
 The testing framework uses ruby and rake to generate and run code. 
 
@@ -159,13 +187,3 @@ image (bitcraze/builder) that contains all tools needed. All scripts in the
 tools/build directory are intended to be run in the image. The 
 [toolbelt](https://wiki.bitcraze.io/projects:dockerbuilderimage:index) makes it
 easy to run the tool scripts.
-
-### Running unit tests
-
-With the environment set up locally
-
-        rake
-
-with the docker builder image and the toolbelt
-
-        tb test

Rakefile

@@ -14,6 +14,9 @@ DEFAULT_CONFIG_FILE = './tools/test/gcc.yml'
 configure_toolchain(DEFAULT_CONFIG_FILE)
 
 task :unit do
+  # This prevents all argumets after 'unit' to be interpreted as targets by rake
+  ARGV.each { |a| task a.to_sym do ; end }
+
   if ARGV.length == 0
     parse_and_run_tests([])
   else

test/deck/drivers/src/TestLpsTdoaTag.c

@@ -1,3 +1,5 @@
+// @IGNORE_IF_NOT PLATFORM_CF2
+
 // File under test lpsTwrTag.h
 #include "lpsTdoaTag.h"
 

test/deck/drivers/src/TestLpsTwrTag.c

@@ -1,3 +1,5 @@
+// @IGNORE_IF_NOT PLATFORM_CF2
+
 // File under test lpsTwrTag.h
 #include "lpsTwrTag.h"
 

tools/build/test

@@ -3,4 +3,4 @@ set -e
 
 scriptDir=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
 
-rake -f ${scriptDir}/../../Rakefile unit "${@}"
+make unit "${@}"

tools/test/rakefile_helper.rb

@@ -171,15 +171,14 @@ def report_summary
   end
 
   def parse_and_run_tests(args)
+    defines = find_defines_in_args(args)
     test_files = find_test_files_in_args(args)
 
     # No file names found in the args, find all files that are unit test files
     if test_files.length == 0
-      test_files = get_unit_test_files
+      test_files = exclude_test_files(get_unit_test_files(), defines)
     end
 
-    defines = find_defines_in_args(args)
-
     run_tests(test_files, defines)
   end
 
@@ -288,56 +287,60 @@ def build_application(main)
     link_it(main_base, obj_list)
   end
 
-  # Any argument without '=' in it will be considered to be a file name
   def find_test_files_in_args(args)
-    args.select do |arg|
-      not arg.include? '='
+    key = 'FILES='
+    args.each do |arg|
+      if arg.start_with?(key)
+        return arg[(key.length)..-1].split(' ')
+      end
     end
   end
 
   # Parse the arguments and find all defines that are passed in on the command line
-  # We support two formats
-  # 1. SOME_DEF=SOME_VALUE ==> generate define based on context
-  # 2. "EXTRA_CFLAGS=-DFIRST_DEF -DSECOND_DEF" ==> just set the define(s) in the list
+  # Defines are part of compiler flags and start with -D, for instance -DMY_DEFINE
+  # All compiler flags are passed in as one string
   def find_defines_in_args(args)
-    non_files = args.select do |arg|
-      arg.include? '='
-    end
-
-    defines = []
-    non_files.each do |arg|
-      parts = arg.split "="
-
-      if parts[0] == "EXTRA_CFLAGS"
-        defines.concat parse_cflags(parts[1])
-      else
-        defines.concat handle_make_arg(parts[0], parts[1])
+    key = 'DEFINES='
+    args.each do |arg|
+      if arg.start_with?(key)
+        return extract_defines(arg[(key.length)..-1])
       end
     end
-    return defines
   end
 
-  def parse_cflags(flags)
-    flags.split(' ').map do |flag|
-      # Remove '-D' and return the rest of the string
-      flag[2..-1]
+  def extract_defines(arg)
+    arg.split(' ').select {|part| part.start_with?('-D')}.map {|flag| flag[2..-1]}
+  end
+
+  def exclude_test_files(files, defines)
+    files.select do |file|
+      annotation_keep_file?(file, defines)
     end
   end
 
-  def handle_make_arg(name, value)
-    case name
-    when 'PLATFORM'
-      return ['PLATFORM_' + value]
-    when 'ESTIMATOR'
-      return ['ESTIMATOR_TYPE_' + value]
-    when 'CONTROLLER'
-      return ['CONTROLLER_TYPE_' + value]
-    when 'POWER_DISTRIBUTION'
-      return ['POWER_DISTRIBUTION_TYPE_' + value]
-    when 'DEBUG'
-      return ['DEBUG=' + value]
-    else
-      []
+
+  # WARNING This implementation is fairly brittle. Basically only intended for cases such as
+  # // @IGNORE_IF_NOT PLATFORM_CF2
+  # Ignores values of defines, so this would fail and keep the file
+  # param to gradle: -DMYDEFINE=0
+  # // @IGNORE_IF_NOT MYDEFINE
+  def annotation_keep_file?(file, defines)
+    ignore_str = '@IGNORE_IF_NOT'
+
+    File.foreach( file ) do |line|
+      if line.include? ignore_str
+        tokens = line.split(' ')
+        index = tokens.index ignore_str
+
+        if tokens.length >= (index + 2)
+          condition = tokens[index + 1]
+          return defines.detect {|define| define == condition}
+        else
+          return false
+        end
+      end
     end
+
+    return true
   end
 end