Modernize system tests, API cleanup

5 files changed, 59 insertions, 192 deletions

diff --git a/src/systemcmds/tests/test_float.c b/src/systemcmds/tests/test_float.c
index bb8b6c7f5..0a81fad11 100644
--- a/src/systemcmds/tests/test_float.c
+++ b/src/systemcmds/tests/test_float.c
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
  *   Author: @author Lorenz Meier <lm@inf.ethz.ch>
  *
  * Redistribution and use in source and binary forms, with or without
@@ -144,9 +144,9 @@ int test_float(int argc, char *argv[])
 		ret = -3;
 	}
 
-	float atan2f_ones = atan2(1.0f, 1.0f);
+	float atan2f_ones = atan2f(1.0f, 1.0f);
 
-	if (fabsf(atan2f_ones - 0.785398163397448278999490867136f) < FLT_EPSILON) {
+	if (fabsf(atan2f_ones - 0.785398163397448278999490867136f) < 2.0f * FLT_EPSILON) {
 		printf("\t success: atan2f(1.0f, 1.0f) == 0.78539f\n");
 
 	} else {
@@ -232,7 +232,7 @@ int test_float(int argc, char *argv[])
 		ret = -10;
 	}
 
-	if (fabs(atan2_ones - 0.785398) < DBL_EPSILON) {
+	if (fabs(atan2_ones - 0.785398163397448278999490867136) < 2.0 * DBL_EPSILON) {
 		printf("\t success: atan2(1.0, 1.0) == 0.785398\n");
 
 	} else {
diff --git a/src/systemcmds/tests/test_param.c b/src/systemcmds/tests/test_param.c
index 318d2505b..ab4184190 100644
--- a/src/systemcmds/tests/test_param.c
+++ b/src/systemcmds/tests/test_param.c
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012-2015 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
@@ -39,11 +39,12 @@
 
 #include <stdio.h>
 #include "systemlib/err.h"
-
 #include "systemlib/param/param.h"
 #include "tests.h"
 
-PARAM_DEFINE_INT32(test, 0x12345678);
+#define PARAM_MAGIC1 0x12345678
+#define PARAM_MAGIC2 0xa5a5a5a5
+PARAM_DEFINE_INT32(test, PARAM_MAGIC1);
 
 int
 test_param(int argc, char *argv[])
@@ -51,26 +52,44 @@ test_param(int argc, char *argv[])
 	param_t		p;
 
 	p = param_find("test");
-	if (p == PARAM_INVALID)
+
+	if (p == PARAM_INVALID) {
 		errx(1, "test parameter not found");
+	}
+
+	if (param_reset(p) != OK) {
+		errx(1, "failed param reset");
+	}
 
 	param_type_t t = param_type(p);
-	if (t != PARAM_TYPE_INT32)
+
+	if (t != PARAM_TYPE_INT32) {
 		errx(1, "test parameter type mismatch (got %u)", (unsigned)t);
+	}
 
 	int32_t	val;
-	if (param_get(p, &val) != 0)
+
+	if (param_get(p, &val) != OK) {
 		errx(1, "failed to read test parameter");
-	if (val != 0x12345678)
+	}
+
+	if (val != PARAM_MAGIC1) {
 		errx(1, "parameter value mismatch");
+	}
+
+	val = PARAM_MAGIC2;
 
-	val = 0xa5a5a5a5;
-	if (param_set(p, &val) != 0)
+	if (param_set(p, &val) != OK) {
 		errx(1, "failed to write test parameter");
-	if (param_get(p, &val) != 0)
+	}
+
+	if (param_get(p, &val) != OK) {
 		errx(1, "failed to re-read test parameter");
-	if ((uint32_t)val != 0xa5a5a5a5)
+	}
+
+	if ((uint32_t)val != PARAM_MAGIC2) {
 		errx(1, "parameter value mismatch after write");
+	}
 
 	warnx("parameter test PASS");
 
diff --git a/src/systemcmds/tests/test_sensors.c b/src/systemcmds/tests/test_sensors.c
index e005bf9c1..4649a83d2 100644
--- a/src/systemcmds/tests/test_sensors.c
+++ b/src/systemcmds/tests/test_sensors.c
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012-2015 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
@@ -62,24 +62,10 @@
 #include <drivers/drv_mag.h>
 #include <drivers/drv_baro.h>
 
-/****************************************************************************
- * Pre-processor Definitions
- ****************************************************************************/
-
-/****************************************************************************
- * Private Types
- ****************************************************************************/
-
-/****************************************************************************
- * Private Function Prototypes
- ****************************************************************************/
-
-static int accel(int argc, char *argv[]);
-static int gyro(int argc, char *argv[]);
-static int mag(int argc, char *argv[]);
-static int baro(int argc, char *argv[]);
-static int accel1(int argc, char *argv[]);
-static int gyro1(int argc, char *argv[]);
+static int accel(int argc, char *argv[], const char* path);
+static int gyro(int argc, char *argv[], const char* path);
+static int mag(int argc, char *argv[], const char* path);
+static int baro(int argc, char *argv[], const char* path);
 
 /****************************************************************************
  * Private Data
@@ -88,27 +74,19 @@ static int gyro1(int argc, char *argv[]);
 struct {
 	const char	*name;
 	const char	*path;
-	int	(* test)(int argc, char *argv[]);
+	int	(* test)(int argc, char *argv[], const char* path);
 } sensors[] = {
-	{"accel",	"/dev/accel",	accel},
-	{"gyro",	"/dev/gyro",	gyro},
-	{"mag",		"/dev/mag",	mag},
-	{"baro",	"/dev/baro",	baro},
-	{"accel1",	"/dev/accel1",	accel1},
-	{"gyro1",	"/dev/gyro1",	gyro1},
+	{"accel0",	ACCEL_DEVICE_PATH,	accel},
+	{"accel1",	"/dev/accel1",	accel},
+	{"gyro0",	GYRO_DEVICE_PATH,	gyro},
+	{"gyro1",	"/dev/gyro1",	gyro},
+	{"mag0",	MAG_DEVICE_PATH,	mag},
+	{"baro0",	BARO_DEVICE_PATH,	baro},
 	{NULL, NULL, NULL}
 };
 
-/****************************************************************************
- * Public Data
- ****************************************************************************/
-
-/****************************************************************************
- * Private Functions
- ****************************************************************************/
-
 static int
-accel(int argc, char *argv[])
+accel(int argc, char *argv[], const char* path)
 {
 	printf("\tACCEL: test start\n");
 	fflush(stdout);
@@ -117,7 +95,7 @@ accel(int argc, char *argv[])
 	struct accel_report buf;
 	int		ret;
 
-	fd = open("/dev/accel", O_RDONLY);
+	fd = open(path, O_RDONLY);
 
 	if (fd < 0) {
 		printf("\tACCEL: open fail, run <mpu6000 start> or <lsm303 start> or <bma180 start> first.\n");
@@ -158,58 +136,7 @@ accel(int argc, char *argv[])
 }
 
 static int
-accel1(int argc, char *argv[])
-{
-	printf("\tACCEL1: test start\n");
-	fflush(stdout);
-
-	int		fd;
-	struct accel_report buf;
-	int		ret;
-
-	fd = open("/dev/accel1", O_RDONLY);
-
-	if (fd < 0) {
-		printf("\tACCEL1: open fail, run <mpu6000 start> or <lsm303d start> first.\n");
-		return ERROR;
-	}
-
-	/* wait at least 100ms, sensor should have data after no more than 20ms */
-	usleep(100000);
-
-	/* read data - expect samples */
-	ret = read(fd, &buf, sizeof(buf));
-
-	if (ret != sizeof(buf)) {
-		printf("\tACCEL1: read1 fail (%d)\n", ret);
-		return ERROR;
-
-	} else {
-		printf("\tACCEL1 accel: x:%8.4f\ty:%8.4f\tz:%8.4f m/s^2\n", (double)buf.x, (double)buf.y, (double)buf.z);
-	}
-
-	if (fabsf(buf.x) > 30.0f || fabsf(buf.y) > 30.0f || fabsf(buf.z) > 30.0f) {
-		warnx("ACCEL1 acceleration values out of range!");
-		return ERROR;
-	}
-
-	float len = sqrtf(buf.x * buf.x + buf.y * buf.y + buf.z * buf.z);
-
-	if (len < 8.0f || len > 12.0f) {
-		warnx("ACCEL1 scale error!");
-		return ERROR;
-	}
-
-	/* Let user know everything is ok */
-	printf("\tOK: ACCEL1 passed all tests successfully\n");
-
-	close(fd);
-
-	return OK;
-}
-
-static int
-gyro(int argc, char *argv[])
+gyro(int argc, char *argv[], const char* path)
 {
 	printf("\tGYRO: test start\n");
 	fflush(stdout);
@@ -218,7 +145,7 @@ gyro(int argc, char *argv[])
 	struct gyro_report buf;
 	int		ret;
 
-	fd = open("/dev/gyro", O_RDONLY);
+	fd = open(path, O_RDONLY);
 
 	if (fd < 0) {
 		printf("\tGYRO: open fail, run <l3gd20 start> or <mpu6000 start> first.\n");
@@ -254,52 +181,7 @@ gyro(int argc, char *argv[])
 }
 
 static int
-gyro1(int argc, char *argv[])
-{
-	printf("\tGYRO1: test start\n");
-	fflush(stdout);
-
-	int		fd;
-	struct gyro_report buf;
-	int		ret;
-
-	fd = open("/dev/gyro1", O_RDONLY);
-
-	if (fd < 0) {
-		printf("\tGYRO1: open fail, run <l3gd20 start> or <mpu6000 start> first.\n");
-		return ERROR;
-	}
-
-	/* wait at least 5 ms, sensor should have data after that */
-	usleep(5000);
-
-	/* read data - expect samples */
-	ret = read(fd, &buf, sizeof(buf));
-
-	if (ret != sizeof(buf)) {
-		printf("\tGYRO1: read fail (%d)\n", ret);
-		return ERROR;
-
-	} else {
-		printf("\tGYRO1 rates: x:%8.4f\ty:%8.4f\tz:%8.4f rad/s\n", (double)buf.x, (double)buf.y, (double)buf.z);
-	}
-
-	float len = sqrtf(buf.x * buf.x + buf.y * buf.y + buf.z * buf.z);
-
-	if (len > 0.3f) {
-		warnx("GYRO1 scale error!");
-		return ERROR;
-	}
-
-	/* Let user know everything is ok */
-	printf("\tOK: GYRO1 passed all tests successfully\n");
-	close(fd);
-
-	return OK;
-}
-
-static int
-mag(int argc, char *argv[])
+mag(int argc, char *argv[], const char* path)
 {
 	printf("\tMAG: test start\n");
 	fflush(stdout);
@@ -308,7 +190,7 @@ mag(int argc, char *argv[])
 	struct mag_report buf;
 	int		ret;
 
-	fd = open("/dev/mag", O_RDONLY);
+	fd = open(path, O_RDONLY);
 
 	if (fd < 0) {
 		printf("\tMAG: open fail, run <hmc5883 start> or <lsm303 start> first.\n");
@@ -344,7 +226,7 @@ mag(int argc, char *argv[])
 }
 
 static int
-baro(int argc, char *argv[])
+baro(int argc, char *argv[], const char* path)
 {
 	printf("\tBARO: test start\n");
 	fflush(stdout);
@@ -353,7 +235,7 @@ baro(int argc, char *argv[])
 	struct baro_report buf;
 	int		ret;
 
-	fd = open("/dev/baro", O_RDONLY);
+	fd = open(path, O_RDONLY);
 
 	if (fd < 0) {
 		printf("\tBARO: open fail, run <ms5611 start> or <lps331 start> first.\n");
@@ -401,12 +283,11 @@ int test_sensors(int argc, char *argv[])
 	for (i = 0; sensors[i].name; i++) {
 		printf("  sensor: %s\n", sensors[i].name);
 
-		/* Flush and leave enough time for the flush to become effective */
+		/* Flush */
 		fflush(stdout);
-		usleep(50000);
 		/* Test the sensor - if the tests crash at this point, the right sensor name has been printed */
 
-		ret += sensors[i].test(argc, argv);
+		ret += sensors[i].test(argc, argv, sensors[i].path);
 	}
 
 	return ret;
diff --git a/src/systemcmds/tests/test_sleep.c b/src/systemcmds/tests/test_sleep.c
index ae682b542..3097e68a4 100644
--- a/src/systemcmds/tests/test_sleep.c
+++ b/src/systemcmds/tests/test_sleep.c
@@ -51,42 +51,9 @@
 
 #include "tests.h"
 
-/****************************************************************************
- * Pre-processor Definitions
- ****************************************************************************/
-
-/****************************************************************************
- * Private Types
- ****************************************************************************/
-
-/****************************************************************************
- * Private Function Prototypes
- ****************************************************************************/
-
-/****************************************************************************
- * Private Data
- ****************************************************************************/
-
-/****************************************************************************
- * Public Data
- ****************************************************************************/
-
-/****************************************************************************
- * Private Functions
- ****************************************************************************/
-
-
-/****************************************************************************
- * Public Functions
- ****************************************************************************/
-
-/****************************************************************************
- * Name: test_sleep
- ****************************************************************************/
-
 int test_sleep(int argc, char *argv[])
 {
-	unsigned int nsleeps = 100;
+	unsigned int nsleeps = 20;
 	printf("\t %d 100ms sleeps\n", nsleeps);
 	fflush(stdout);
 
diff --git a/src/systemcmds/tests/tests_main.c b/src/systemcmds/tests/tests_main.c
index 2f586fa85..04ab6d633 100644
--- a/src/systemcmds/tests/tests_main.c
+++ b/src/systemcmds/tests/tests_main.c
@@ -103,8 +103,8 @@ const struct {
 	{"jig",			test_jig,	OPT_NOJIGTEST | OPT_NOALLTEST},
 	{"param",		test_param,	0},
 	{"bson",		test_bson,	0},
-	{"file",		test_file,	0},
-	{"file2",		test_file2,	OPT_NOJIGTEST | OPT_NOALLTEST},
+	{"file",		test_file,	OPT_NOJIGTEST | OPT_NOALLTEST},
+	{"file2",		test_file2,	OPT_NOJIGTEST},
 	{"mixer",		test_mixer,	OPT_NOJIGTEST | OPT_NOALLTEST},
 	{"rc",			test_rc,	OPT_NOJIGTEST | OPT_NOALLTEST},
 	{"conv",		test_conv,	OPT_NOJIGTEST | OPT_NOALLTEST},