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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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