/****************************************************************************
* px4/sensors/tests_main.c
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name NuttX nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <sys/types.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#include <fcntl.h>
#include <errno.h>
#include <debug.h>
#include <arch/board/board.h>
#include <nuttx/spi.h>
#include <systemlib/perf_counter.h>
#include "tests.h"
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
/****************************************************************************
* Private Types
****************************************************************************/
/****************************************************************************
* Private Function Prototypes
****************************************************************************/
static int test_help(int argc, char *argv[]);
static int test_all(int argc, char *argv[]);
static int test_perf(int argc, char *argv[]);
static int test_jig(int argc, char *argv[]);
/****************************************************************************
* Private Data
****************************************************************************/
struct {
const char *name;
int (* fn)(int argc, char *argv[]);
unsigned options;
int passed;
#define OPT_NOHELP (1<<0)
#define OPT_NOALLTEST (1<<1)
#define OPT_NOJIGTEST (1<<2)
} tests[] = {
{"led", test_led, 0, 0},
{"int", test_int, 0, 0},
{"float", test_float, 0, 0},
{"sensors", test_sensors, 0, 0},
{"gpio", test_gpio, OPT_NOJIGTEST | OPT_NOALLTEST, 0},
{"hrt", test_hrt, OPT_NOJIGTEST | OPT_NOALLTEST, 0},
{"ppm", test_ppm, OPT_NOJIGTEST | OPT_NOALLTEST, 0},
{"servo", test_servo, OPT_NOJIGTEST | OPT_NOALLTEST, 0},
{"adc", test_adc, OPT_NOJIGTEST, 0},
{"jig_voltages", test_jig_voltages, OPT_NOALLTEST, 0},
{"eeproms", test_eeproms, 0, 0},
{"uart_loopback", test_uart_loopback, OPT_NOJIGTEST | OPT_NOALLTEST, 0},
{"uart_baudchange", test_uart_baudchange, OPT_NOJIGTEST | OPT_NOALLTEST, 0},
{"uart_send", test_uart_send, OPT_NOJIGTEST | OPT_NOALLTEST, 0},
{"uart_console", test_uart_console, OPT_NOJIGTEST | OPT_NOALLTEST, 0},
{"tone", test_tone, 0, 0},
{"sleep", test_sleep, OPT_NOJIGTEST, 0},
{"time", test_time, OPT_NOJIGTEST, 0},
{"perf", test_perf, OPT_NOJIGTEST, 0},
{"all", test_all, OPT_NOALLTEST | OPT_NOJIGTEST, 0},
{"jig", test_jig, OPT_NOJIGTEST | OPT_NOALLTEST, 0},
{"help", test_help, OPT_NOALLTEST | OPT_NOHELP | OPT_NOJIGTEST, 0},
{NULL, NULL, 0, 0}
};
/****************************************************************************
* Public Data
****************************************************************************/
/****************************************************************************
* Private Functions
****************************************************************************/
static int
test_help(int argc, char *argv[])
{
unsigned i;
printf("Available tests:\n");
for (i = 0; tests[i].name; i++)
printf(" %s\n", tests[i].name);
return 0;
}
static int
test_all(int argc, char *argv[])
{
unsigned i;
char *args[2] = {"all", NULL};
unsigned int failcount = 0;
printf("\nRunning all tests...\n\n");
for (i = 0; tests[i].name; i++) {
/* Only run tests that are not excluded */
if (!(tests[i].options & OPT_NOALLTEST)) {
printf(" [%s] \t\t\tSTARTING TEST\n", tests[i].name);
fflush(stdout);
/* Execute test */
if (tests[i].fn(1, args) != 0) {
fprintf(stderr, " [%s] \t\t\tFAIL\n", tests[i].name);
fflush(stderr);
failcount++;
} else {
tests[i].passed = 1;
printf(" [%s] \t\t\tPASS\n", tests[i].name);
fflush(stdout);
}
}
}
/* Print summary */
printf("\n");
int j;
for (j = 0; j < 40; j++) {
printf("-");
}
printf("\n\n");
printf(" T E S T S U M M A R Y\n\n");
if (failcount == 0) {
printf(" ______ __ __ ______ __ __ \n");
printf(" /\\ __ \\ /\\ \\ /\\ \\ /\\ __ \\ /\\ \\/ / \n");
printf(" \\ \\ __ \\ \\ \\ \\____ \\ \\ \\____ \\ \\ \\/\\ \\ \\ \\ _\"-. \n");
printf(" \\ \\_\\ \\_\\ \\ \\_____\\ \\ \\_____\\ \\ \\_____\\ \\ \\_\\ \\_\\ \n");
printf(" \\/_/\\/_/ \\/_____/ \\/_____/ \\/_____/ \\/_/\\/_/ \n");
printf("\n");
printf(" All tests passed (%d of %d)\n", i, i);
} else {
printf(" ______ ______ __ __ \n");
printf(" /\\ ___\\ /\\ __ \\ /\\ \\ /\\ \\ \n");
printf(" \\ \\ __\\ \\ \\ __ \\ \\ \\ \\ \\ \\ \\__\n");
printf(" \\ \\_\\ \\ \\_\\ \\_\\ \\ \\_\\ \\ \\_____\\ \n");
printf(" \\/_/ \\/_/\\/_/ \\/_/ \\/_____/ \n");
printf("\n");
printf(" Some tests failed (%d of %d)\n", failcount, i);
}
printf("\n");
/* Print failed tests */
if (failcount > 0) printf(" Failed tests:\n\n");
int k;
for (k = 0; k < i; k++) {
if ((tests[k].passed == 0) && !(tests[k].options & OPT_NOALLTEST)) {
printf(" [%s] to obtain details, please re-run with\n\t nsh> tests %s\n\n", tests[k].name, tests[k].name);
}
}
fflush(stdout);
return 0;
}
static int
test_perf(int argc, char *argv[])
{
perf_counter_t cc, ec;
cc = perf_alloc(PC_COUNT, "test_count");
ec = perf_alloc(PC_ELAPSED, "test_elapsed");
if ((cc == NULL) || (ec == NULL)) {
printf("perf: counter alloc failed\n");
return 1;
}
perf_begin(ec);
perf_count(cc);
perf_count(cc);
perf_count(cc);
perf_count(cc);
printf("perf: expect count of 4\n");
perf_print_counter(cc);
perf_end(ec);
printf("perf: expect count of 1\n");
perf_print_counter(ec);
printf("perf: expect at least two counters\n");
perf_print_all();
perf_free(cc);
perf_free(ec);
}
test_jig(int argc, char *argv[])
{
unsigned i;
char *args[2] = {"jig", NULL};
unsigned int failcount = 0;
printf("\nRunning all tests...\n\n");
for (i = 0; tests[i].name; i++) {
/* Only run tests that are not excluded */
if (!(tests[i].options & OPT_NOJIGTEST)) {
printf(" [%s] \t\t\tSTARTING TEST\n", tests[i].name);
fflush(stdout);
/* Execute test */
if (tests[i].fn(1, args) != 0) {
fprintf(stderr, " [%s] \t\t\tFAIL\n", tests[i].name);
fflush(stderr);
failcount++;
} else {
tests[i].passed = 1;
printf(" [%s] \t\t\tPASS\n", tests[i].name);
fflush(stdout);
}
}
}
/* Print summary */
printf("\n");
int j;
for (j = 0; j < 40; j++)
{
printf("-");
}
printf("\n\n");
printf(" T E S T S U M M A R Y\n\n");
if (failcount == 0) {
printf(" ______ __ __ ______ __ __ \n");
printf(" /\\ __ \\ /\\ \\ /\\ \\ /\\ __ \\ /\\ \\/ / \n");
printf(" \\ \\ __ \\ \\ \\ \\____ \\ \\ \\____ \\ \\ \\/\\ \\ \\ \\ _\"-. \n");
printf(" \\ \\_\\ \\_\\ \\ \\_____\\ \\ \\_____\\ \\ \\_____\\ \\ \\_\\ \\_\\ \n");
printf(" \\/_/\\/_/ \\/_____/ \\/_____/ \\/_____/ \\/_/\\/_/ \n");
printf("\n");
printf(" All tests passed (%d of %d)\n", i, i);
} else {
printf(" ______ ______ __ __ \n");
printf(" /\\ ___\\ /\\ __ \\ /\\ \\ /\\ \\ \n");
printf(" \\ \\ __\\ \\ \\ __ \\ \\ \\ \\ \\ \\ \\__\n");
printf(" \\ \\_\\ \\ \\_\\ \\_\\ \\ \\_\\ \\ \\_____\\ \n");
printf(" \\/_/ \\/_/\\/_/ \\/_/ \\/_____/ \n");
printf("\n");
printf(" Some tests failed (%d of %d)\n", failcount, i);
}
printf("\n");
/* Print failed tests */
if (failcount > 0) printf(" Failed tests:\n\n");
int k;
for (k = 0; k < i; k++)
{
if ((tests[k].passed == 0) && !(tests[k].options & OPT_NOJIGTEST))
{
printf(" [%s] to obtain details, please re-run with\n\t nsh> tests %s\n\n", tests[k].name, tests[k].name);
}
}
fflush(stdout);
return 0;
}
/****************************************************************************
* Public Functions
****************************************************************************/
__EXPORT int tests_main(int argc, char *argv[]);
/****************************************************************************
* Name: tests_main
****************************************************************************/
int tests_main(int argc, char *argv[])
{
unsigned i;
if (argc < 2) {
printf("tests: missing test name - 'tests help' for a list of tests\n");
return 1;
}
for (i = 0; tests[i].name; i++) {
if (!strcmp(tests[i].name, argv[1]))
return tests[i].fn(argc - 1, argv + 1);
}
printf("tests: no test called '%s' - 'tests help' for a list of tests\n", argv[1]);
return ERROR;
}
