fix(test): Fix CI segfault and improve CTest integration #13881
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Pull request overview
This PR fixes a critical null pointer dereference in MAVLinkSigning.cc that caused CI test failures with segfault (exit 139) and modernizes the test infrastructure with CTest integration.
Changes:
- Adds null pointer checks in
MAVLinkSigning.ccfor invalid MAVLink channels - Implements comprehensive CTest integration with timeouts, labels, parallel execution, and failure detection
- Adds TestHelpers.h with reusable test utilities and convenience macros
- Re-enables three previously disabled MAVLink command tests
- Updates GitHub Actions workflow to use ctest instead of direct test execution
- Adds TESTING.md documentation for developers
Reviewed changes
Copilot reviewed 9 out of 9 changed files in this pull request and generated 2 comments.
Show a summary per file
| File | Description |
|---|---|
| src/MAVLink/MAVLinkSigning.cc | Adds null pointer checks to prevent segfault when mavlink_get_channel_status returns nullptr |
| test/qgcunittest/TestHelpers.h | New file providing reusable test utilities (waitFor, signal helpers, fuzzy compare, etc.) |
| test/qgcunittest/CMakeLists.txt | Adds TestHelpers.h to build |
| test/CMakeLists.txt | Implements CTest integration with add_qgc_test function, timeout configuration, test labels, and parallel execution |
| test/UnitTestList.cc | Re-enables RequestMessageTest, SendMavCommandWithHandlerTest, and SendMavCommandWithSignallingTest |
| test/TESTING.md | Comprehensive testing documentation with quick start guide and examples |
| cmake/CustomOptions.cmake | Adds QGC_TEST_TIMEOUT configuration option (default 120s) |
| CMakeLists.txt | Conditionally includes CTest module when testing is enabled |
| .github/workflows/linux.yml | Updates CI to use ctest with parallel execution and proper working directory |
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Build ResultsPlatform Status
Some builds failed. Artifact Sizes
No baseline available for comparisonUpdated: 2026-01-25 03:47:20 UTC • Triggered by: MacOS |
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Pull request overview
Copilot reviewed 155 out of 181 changed files in this pull request and generated 1 comment.
Comments suppressed due to low confidence (1)
test/UnitTestFramework/TestHelpers.h:1
- The template parameter name 'Worker' in the function signature is inconsistent with the actual parameter name 'worker' (lowercase). The template parameter should be named F or Func to match common C++ conventions and avoid confusion with the function parameter.
#pragma once
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Comprehensive improvements to QGC's unit testing infrastructure for better test isolation, faster execution, and improved maintainability. ## Test Framework Enhancements - Add TestHelpers.h with wait utilities, verification helpers, numeric comparisons, JSON utilities, coordinate helpers, and property-based testing support - Enhance MultiSignalSpy with automatic signal discovery, fluent API, summary reporting, and modern C++20 accessors - Add TestFixtures (VehicleTestFixture, MissionTestFixture, ParameterTestFixture) for common test patterns - Add MockHelpers with TestDataGenerator for deterministic random data ## CMake Test Infrastructure - Add QGCTest.cmake with add_qgc_test() function for standardized test registration with labels, timeouts, and resource locks - Add Coverage.cmake for code coverage reporting - Add Sanitizers.cmake for ASan/UBSan/TSan support - Add FuzzTesting.cmake for fuzz testing infrastructure - Configure RESOURCE_LOCK GlobalState for all tests to prevent parallel execution conflicts ## Vehicle/MockLink Improvements - Add shorter timeouts for unit tests (50ms check interval, 100ms ack) - Stop command timers before vehicle destruction to prevent SIGSEGV during rapid connect/disconnect cycles - Add test-specific heartbeat and comm loss detection timeouts - Enhance MockConfiguration with failure mode support ## Test Organization - Reorganize test directory structure by component - Add proper test registration in UnitTestList.cc - Remove base class (MissionControllerManagerTest) from test registration - Add JUnit XML output support for CI integration ## Bug Fixes - Fix SIGSEGV in RequestMessageTest caused by timer callbacks during vehicle destruction sequence - Fix race condition between link disconnect and vehicle cleanup
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Summary
MAVLinkSigning.ccthat caused CI segfault (exit code 139) whenmavlink_get_channel_status()returned nullptr for invalid MAVLink channelsctestfor better CI reliabilityChanges
Bug Fix
src/MAVLink/MAVLinkSigning.cc: Add null pointer checks in_getChannelSigning()andinitSigning()to prevent segfault when channel is invalid (255)CTest Improvements
QGC_TEST_TIMEOUTin cmake/CustomOptions.cmake)ctest -L MAVLink,ctest -L Compression, etc.--parallel $(nproc)QT_QPA_PLATFORM=offscreenandQT_LOGGING_RULES=*=falsevia test propertiesFAIL_REGULAR_EXPRESSIONforFAIL!,Segmentation fault,ASSERTinclude(CTest)to top-level CMakeLists.txt (required by CMake)Re-enabled Tests
RequestMessageTestSendMavCommandWithHandlerTestSendMavCommandWithSignallingTestDocumentation
test/TESTING.mdwith concise testing guidetest/qgcunittest/TestHelpers.hwith common test utilitiesTest plan
-DQGC_BUILD_TESTING=ONctest -Nlists all tests with correct labelsctest -L MAVLinkfilters tests correctlyParameterManagerTest::_paramWriteNoAckRetry()passes (previously segfaulted)