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author | px4dev <px4@purgatory.org> | 2012-08-04 15:12:36 -0700 |
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committer | px4dev <px4@purgatory.org> | 2012-08-04 15:12:36 -0700 |
commit | 8a365179eafdf3aea98e60ab9f5882b200d4c759 (patch) | |
tree | 4f38d6d4cd80bd0b6e22e2bb534c3f117ce44e56 /apps/px4/tests/tests_main.c | |
download | px4-firmware-8a365179eafdf3aea98e60ab9f5882b200d4c759.tar.gz px4-firmware-8a365179eafdf3aea98e60ab9f5882b200d4c759.tar.bz2 px4-firmware-8a365179eafdf3aea98e60ab9f5882b200d4c759.zip |
Fresh import of the PX4 firmware sources.
Diffstat (limited to 'apps/px4/tests/tests_main.c')
-rw-r--r-- | apps/px4/tests/tests_main.c | 339 |
1 files changed, 339 insertions, 0 deletions
diff --git a/apps/px4/tests/tests_main.c b/apps/px4/tests/tests_main.c new file mode 100644 index 000000000..704b5a237 --- /dev/null +++ b/apps/px4/tests/tests_main.c @@ -0,0 +1,339 @@ +/**************************************************************************** + * 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; +} |