#!nsh
#
# PX4FMU startup script for test hackery.
#
set unit_test_failure 0

uorb start

if sercon
then
	echo "[i] USB interface connected"

	# Try to get an USB console
	nshterm /dev/ttyACM0 &
fi

#
# Try to mount the microSD card.
#
mount -t vfat /dev/mmcsd0 /fs/microsd
if [ $? == 0 ]
then
	echo "[i] card mounted at /fs/microsd"
	# Start playing the startup tune
	tone_alarm start
else
	echo "[i] no microSD card found"
	# Play SOS
	tone_alarm error
fi

#
# Start a minimal system
#

if [ -f /etc/extras/px4io-v2_default.bin ]
then
	set io_file /etc/extras/px4io-v2_default.bin
else
	set io_file /etc/extras/px4io-v1_default.bin
fi

px4io start
if [ $? == 0 ]
then
	echo "PX4IO OK"
else
	set unit_test_failure 1
	set unit_test_failure_list "${unit_test_failure_list} px4io_start"
fi

px4io checkcrc $io_file
if [ $? == 0 ]
then
	echo "PX4IO CRC OK"
else
	echo "PX4IO CRC failure"
	tone_alarm MBABGP
	if px4io forceupdate 14662 $io_file
	then
		if px4io start
		then
			echo "PX4IO restart OK"
			tone_alarm MSPAA
		else
			echo "PX4IO restart failed"
			tone_alarm MNGGG
			set unit_test_failure 1
			set unit_test_failure_list "${unit_test_failure_list} px4io_flash"
		fi
	else
		echo "PX4IO update failed"
		tone_alarm MNGGG
		set unit_test_failure 1
		set unit_test_failure_list "${unit_test_failure_list} px4io_flash"
	fi
fi

#
# The presence of this file suggests we're running a mount stress test
#
if [ -f /fs/microsd/mount_test_cmds.txt ]
then
	tests mount
fi

#
# Run unit tests at board boot, reporting failure as needed.
# Add new unit tests using the same pattern as below.
#

mavlink_tests
if [ $? != 0 ]
then
	set unit_test_failure 1
	set unit_test_failure_list "${unit_test_failure_list} mavlink_tests"
fi

commander_tests
if [ $? != 0 ]
then
	set unit_test_failure 1
	set unit_test_failure_list "${unit_test_failure_list} commander_tests"
fi

uorb test
if [ $? != 0 ]
then
	set unit_test_failure 1
	set unit_test_failure_list "${unit_test_failure_list} uorb_tests"
fi

adc start
# XXX this syntax is not quite right, but if takes no flags (yet)
if [ hmc5883 -I -S start ]
then
	# This is an FMUv1 or FMUv2
	echo "FMUv2 (or FMUv3 where 'hmc5883 -I -S start' failed)"
	ms5611 start
	mpu6000 start
	lsm303d start
	l3gd20 start
else
	# This is a FMUv3
	echo "FMUv3"
	mpu6000 -X start
	mpu6000 start
	lsm303d -X start
	l3gd20 -X start
	ms5611 start
fi

tests all
if [ $? != 0 ]
then
	set unit_test_failure 1
	set unit_test_failure_list "${unit_test_failure_list} system_tests"
fi

if [ $unit_test_failure == 0 ]
then
	echo
	echo "All Unit Tests PASSED"
else
	echo
	echo "Some Unit Tests FAILED:${unit_test_failure_list}"
fi

ver all