单元测试

QGroundControl (QGC) contains a set of unit and integration tests that must pass before a pull request will be accepted. 向QGC添加新的复杂子系统应该有相应的新单元测试来测试它。

Tests are compiled into the QGroundControl executable when the QGC_BUILD_TESTING CMake option is on, which is the default for Debug builds (including just configure and the *-debug presets). Each test is registered with CTest, which runs it in a separate QGroundControl process.

Running Tests

After a Debug build, run the tests with just (from the repository root):

just test                      # Unit and Integration tests, excluding Flaky and Network (like CI)
LABELS=Unit just test          # Override the included labels
EXCLUDE=Network just test      # Override the excluded labels

Or call CTest directly:

ctest --test-dir build --output-on-failure -L Unit   # Tests with the Unit label
ctest --test-dir build -R ParameterManagerTest       # Tests whose name matches a regex
ctest --test-dir build --rerun-failed                # Only the tests that failed last time

You can also run tests straight from the executable, which is handy when debugging (see Command Line Options):

./build/Debug/QGroundControl --list-tests                     # List the registered tests
./build/Debug/QGroundControl --unittest:ParameterManagerTest  # Run one test
./build/Debug/QGroundControl --unittest                       # Run all tests

Labels and Parallel Runs

Every test has CTest labels: Unit, Integration or Slow set its timeout, and category labels such as Vehicle, MissionManager or Comms are for filtering. Flaky and Network tests are excluded from pull request runs.

CTest runs tests in parallel, with isolated settings and temporary directories for each test. Tests that share hardware or fixed resources declare a CTest RESOURCE_LOCK. Timing-sensitive tests marked SERIAL run alone (RUN_SERIAL) in sanitizer and coverage builds, and otherwise reserve two CTest processors.

Sanitizers and Coverage (Linux)

CI also runs the tests on Linux with AddressSanitizer + UndefinedBehaviorSanitizer and with coverage instrumentation. Reproduce those runs with the matching presets (QT_ROOT_DIR must point at your Qt kit):

export QT_ROOT_DIR=~/Qt/6.12.0/gcc_64
cmake --workflow --preset Linux-sanitizers   # ASan + UBSan build and tests
just coverage                                # Linux-coverage build, tests and report in build/Linux-coverage/

CTest sets the sanitizer runtime options (for example halt_on_error=1) on every test, overriding any *SAN_OPTIONS in your shell; run the test executable directly to try other options.

Writing Tests

See the testing guide in the source tree for the test base classes, registering a test with add_qgc_test(), labels and timeouts, wait helpers and MultiSignalSpy.