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-rw-r--r--apps/px4/tests/tests_main.c339
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diff --git a/apps/px4/tests/tests_main.c b/apps/px4/tests/tests_main.c
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--- a/apps/px4/tests/tests_main.c
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-/****************************************************************************
- *
- * Copyright (C) 2012 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
- * 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 PX4 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.
- *
- ****************************************************************************/
-
-/**
- * @file tests_main.c
- * Tests main file, loads individual tests.
- */
-
-#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
- ****************************************************************************/
-
-const struct {
- const char *name;
- int (* fn)(int argc, char *argv[]);
- unsigned options;
-#define OPT_NOHELP (1<<0)
-#define OPT_NOALLTEST (1<<1)
-#define OPT_NOJIGTEST (1<<2)
-} tests[] = {
- {"led", test_led, 0},
- {"int", test_int, 0},
- {"float", test_float, 0},
- {"sensors", test_sensors, 0},
- {"gpio", test_gpio, OPT_NOJIGTEST | OPT_NOALLTEST},
- {"hrt", test_hrt, OPT_NOJIGTEST | OPT_NOALLTEST},
- {"ppm", test_ppm, OPT_NOJIGTEST | OPT_NOALLTEST},
- {"servo", test_servo, OPT_NOJIGTEST | OPT_NOALLTEST},
- {"adc", test_adc, OPT_NOJIGTEST},
- {"jig_voltages", test_jig_voltages, OPT_NOALLTEST},
- {"uart_loopback", test_uart_loopback, OPT_NOJIGTEST | OPT_NOALLTEST},
- {"uart_baudchange", test_uart_baudchange, OPT_NOJIGTEST | OPT_NOALLTEST},
- {"uart_send", test_uart_send, OPT_NOJIGTEST | OPT_NOALLTEST},
- {"uart_console", test_uart_console, OPT_NOJIGTEST | OPT_NOALLTEST},
- {"hott_telemetry", test_hott_telemetry, OPT_NOJIGTEST | OPT_NOALLTEST},
- {"tone", test_tone, 0},
- {"sleep", test_sleep, OPT_NOJIGTEST},
- {"time", test_time, OPT_NOJIGTEST},
- {"perf", test_perf, OPT_NOJIGTEST},
- {"all", test_all, OPT_NOALLTEST | OPT_NOJIGTEST},
- {"jig", test_jig, OPT_NOJIGTEST | OPT_NOALLTEST},
- {"param", test_param, 0},
- {"bson", test_bson, 0},
- {"file", test_file, 0},
- {"help", test_help, OPT_NOALLTEST | OPT_NOHELP | OPT_NOJIGTEST},
- {NULL, NULL, 0}
-};
-
-#define NTESTS (sizeof(tests) / sizeof(tests[0]))
-
-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;
- unsigned int testcount = 0;
- bool passed[NTESTS];
-
- 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++;
- passed[i] = false;
- } else {
- printf(" [%s] \t\t\tPASS\n", tests[i].name);
- fflush(stdout);
- passed[i] = true;
- }
- testcount++;
- }
- }
-
- /* 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", testcount, testcount);
-
- } else {
- printf(" ______ ______ __ __ \n");
- printf(" /\\ ___\\ /\\ __ \\ /\\ \\ /\\ \\ \n");
- printf(" \\ \\ __\\ \\ \\ __ \\ \\ \\ \\ \\ \\ \\__\n");
- printf(" \\ \\_\\ \\ \\_\\ \\_\\ \\ \\_\\ \\ \\_____\\ \n");
- printf(" \\/_/ \\/_/\\/_/ \\/_/ \\/_____/ \n");
- printf("\n");
- printf(" Some tests failed (%d of %d)\n", failcount, testcount);
- }
-
- printf("\n");
-
- /* Print failed tests */
- if (failcount > 0) printf(" Failed tests:\n\n");
-
- unsigned int k;
-
- for (k = 0; k < i; k++) {
- if (!passed[k] && !(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);
-
- return OK;
-}
-
-int test_jig(int argc, char *argv[])
-{
- unsigned i;
- char *args[2] = {"jig", NULL};
- unsigned int failcount = 0;
- unsigned int testcount = 0;
- bool passed[NTESTS];
-
- 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++;
- passed[i] = false;
- } else {
- printf(" [%s] \t\t\tPASS\n", tests[i].name);
- fflush(stdout);
- passed[i] = true;
- }
- testcount++;
- }
- }
-
- /* 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", testcount, testcount);
- } else {
- printf(" ______ ______ __ __ \n");
- printf(" /\\ ___\\ /\\ __ \\ /\\ \\ /\\ \\ \n");
- printf(" \\ \\ __\\ \\ \\ __ \\ \\ \\ \\ \\ \\ \\__\n");
- printf(" \\ \\_\\ \\ \\_\\ \\_\\ \\ \\_\\ \\ \\_____\\ \n");
- printf(" \\/_/ \\/_/\\/_/ \\/_/ \\/_____/ \n");
- printf("\n");
- printf(" Some tests failed (%d of %d)\n", failcount, testcount);
- }
- printf("\n");
-
- /* Print failed tests */
- if (failcount > 0) printf(" Failed tests:\n\n");
- unsigned int k;
- for (k = 0; k < i; k++)
- {
- if (!passed[i] && !(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;
-}
-
-__EXPORT int tests_main(int argc, char *argv[]);
-
-/**
- * Executes system tests.
- */
-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;
-}
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