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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
Added audio tune signals for unit tests passing and failing.
This commit is contained in:
mcsauder
Daniel Agar
parent
0032df3e87
commit
2fa70fca80
@ -72,16 +72,18 @@ int test_tone(int argc, char *argv[])
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}
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if (argc == 2) {
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tune_control.tune_id = atoi(argv[1]);
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if (tune_control.tune_id <= 20) {
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tune_control.tune_id = atoi(argv[1]);
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PX4_INFO("Testing TuneID: %d", tune_control.tune_id);
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PX4_INFO("TuneID: %d", tune_control.tune_id);
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}
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}
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if (argc == 3) {
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int volume = 40;
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Tunes tunes{};
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tunes.set_string(argv[2], 40);
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PX4_INFO("Testing custom tune.");
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tunes.set_string(argv[2], volume);
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PX4_INFO("Custom tune.");
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}
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tune_control.strength = 40;
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@ -51,101 +51,105 @@
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#define TESTS_EIGEN_DISABLE
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static int test_all(int argc, char *argv[]);
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static int test_help(int argc, char *argv[]);
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static int test_jig(int argc, char *argv[]);
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static int test_runner(unsigned option);
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static int test_all(int argc, char *argv[]);
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static int test_jig(int argc, char *argv[]);
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const struct {
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const char *name;
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int (* fn)(int argc, char *argv[]);
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unsigned options;
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#define OPT_NOHELP (1<<0)
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#define OPT_NOALLTEST (1<<1)
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#define OPT_NOJIGTEST (1<<2)
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const char *name;
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int (* fn)(int argc, char *argv[]);
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unsigned options;
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#define OPT_NOHELP (1<<0)
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#define OPT_NOALLTEST (1<<1)
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#define OPT_NOJIGTEST (1<<2)
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} tests[] = {
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{"all", test_all, OPT_NOALLTEST | OPT_NOJIGTEST},
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{"help", test_help, OPT_NOALLTEST | OPT_NOHELP | OPT_NOJIGTEST},
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{"jig", test_jig, OPT_NOJIGTEST | OPT_NOALLTEST},
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{"help", test_help, OPT_NOALLTEST | OPT_NOHELP | OPT_NOJIGTEST},
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{"all", test_all, OPT_NOALLTEST | OPT_NOJIGTEST},
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{"jig", test_jig, OPT_NOJIGTEST | OPT_NOALLTEST},
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#ifdef __PX4_NUTTX
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{"adc", test_adc, OPT_NOJIGTEST},
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{"file", test_file, OPT_NOJIGTEST | OPT_NOALLTEST},
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{"led", test_led, 0},
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{"sensors", test_sensors, 0},
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{"time", test_time, OPT_NOJIGTEST},
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{"uart_baudchange", test_uart_baudchange, OPT_NOJIGTEST},
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{"uart_break", test_uart_break, OPT_NOJIGTEST | OPT_NOALLTEST},
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{"uart_console", test_uart_console, OPT_NOJIGTEST | OPT_NOALLTEST},
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{"adc", test_adc, OPT_NOJIGTEST},
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{"file", test_file, OPT_NOJIGTEST | OPT_NOALLTEST},
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{"led", test_led, 0},
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{"sensors", test_sensors, 0},
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{"time", test_time, OPT_NOJIGTEST},
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{"uart_baudchange", test_uart_baudchange, OPT_NOJIGTEST},
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{"uart_break", test_uart_break, OPT_NOJIGTEST | OPT_NOALLTEST},
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{"uart_console", test_uart_console, OPT_NOJIGTEST | OPT_NOALLTEST},
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#else
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{"mavlink", mavlink_tests_main, 0},
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{"rc", rc_tests_main, 0},
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{"rc", rc_tests_main, 0},
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#endif /* __PX4_NUTTX */
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/* external tests */
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{"commander", commander_tests_main, 0},
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{"controllib", controllib_test_main, 0},
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{"sf0x", sf0x_tests_main, 0},
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{"uorb", uorb_tests_main, 0},
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{"commander", commander_tests_main, 0},
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{"controllib", controllib_test_main, 0},
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#ifndef __PX4_NUTTX
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{"mavlink", mavlink_tests_main, 0},
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#endif
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{"sf0x", sf0x_tests_main, 0},
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{"uorb", uorb_tests_main, 0},
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{"hysteresis", test_hysteresis, 0},
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{"autodeclination", test_autodeclination, 0},
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{"bezier", test_bezierQuad, 0},
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{"bson", test_bson, 0},
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{"conv", test_conv, 0},
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{"ctlmath", test_controlmath, 0},
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{"dataman", test_dataman, OPT_NOJIGTEST | OPT_NOALLTEST},
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{"file2", test_file2, OPT_NOJIGTEST},
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{"float", test_float, 0},
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{"hott_telemetry", test_hott_telemetry, OPT_NOJIGTEST | OPT_NOALLTEST},
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{"hrt", test_hrt, OPT_NOJIGTEST | OPT_NOALLTEST},
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{"hysteresis", test_hysteresis, 0},
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{"int", test_int, 0},
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{"jig_voltages", test_jig_voltages, OPT_NOALLTEST},
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{"mathlib", test_mathlib, 0},
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{"matrix", test_matrix, 0},
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{"microbench_hrt", test_microbench_hrt, 0},
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{"microbench_math", test_microbench_math, 0},
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{"microbench_matrix", test_microbench_matrix, 0},
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{"microbench_uorb", test_microbench_uorb, 0},
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{"mixer", test_mixer, OPT_NOJIGTEST},
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{"mount", test_mount, OPT_NOJIGTEST | OPT_NOALLTEST},
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{"param", test_param, 0},
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{"parameters", test_parameters, 0},
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{"perf", test_perf, OPT_NOJIGTEST},
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{"ppm", test_ppm, OPT_NOJIGTEST | OPT_NOALLTEST},
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{"ppm_loopback", test_ppm_loopback, OPT_NOALLTEST},
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{"rc", test_rc, OPT_NOJIGTEST | OPT_NOALLTEST},
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{"search_min", test_search_min, 0},
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{"servo", test_servo, OPT_NOJIGTEST | OPT_NOALLTEST},
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{"sleep", test_sleep, OPT_NOJIGTEST},
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{"smooth_z", test_smooth_z, 0},
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{"tone", test_tone, 0},
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{"uart_loopback", test_uart_loopback, OPT_NOJIGTEST | OPT_NOALLTEST},
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{"uart_send", test_uart_send, OPT_NOJIGTEST | OPT_NOALLTEST},
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{"versioning", test_versioning, 0},
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{NULL, NULL, 0}
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{"mixer", test_mixer, OPT_NOJIGTEST},
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{"autodeclination", test_autodeclination, 0},
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{"bezier", test_bezierQuad, 0},
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{"bson", test_bson, 0},
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{"conv", test_conv, 0},
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{"dataman", test_dataman, OPT_NOJIGTEST | OPT_NOALLTEST},
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{"file2", test_file2, OPT_NOJIGTEST},
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{"float", test_float, 0},
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{"hott_telemetry", test_hott_telemetry, OPT_NOJIGTEST | OPT_NOALLTEST},
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{"hrt", test_hrt, OPT_NOJIGTEST | OPT_NOALLTEST},
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{"int", test_int, 0},
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{"jig_voltages", test_jig_voltages, OPT_NOALLTEST},
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{"mathlib", test_mathlib, 0},
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{"matrix", test_matrix, 0},
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{"microbench_hrt", test_microbench_hrt, 0},
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{"microbench_math", test_microbench_math, 0},
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{"microbench_matrix", test_microbench_matrix, 0},
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{"microbench_uorb", test_microbench_uorb, 0},
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{"mount", test_mount, OPT_NOJIGTEST | OPT_NOALLTEST},
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{"param", test_param, 0},
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{"parameters", test_parameters, 0},
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{"perf", test_perf, OPT_NOJIGTEST},
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{"ppm", test_ppm, OPT_NOJIGTEST | OPT_NOALLTEST},
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{"ppm_loopback", test_ppm_loopback, OPT_NOALLTEST},
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{"rc", test_rc, OPT_NOJIGTEST | OPT_NOALLTEST},
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{"search_min", test_search_min, 0},
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{"servo", test_servo, OPT_NOJIGTEST | OPT_NOALLTEST},
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{"sleep", test_sleep, OPT_NOJIGTEST},
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{"tone", test_tone, 0},
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{"uart_loopback", test_uart_loopback, OPT_NOJIGTEST | OPT_NOALLTEST},
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{"uart_send", test_uart_send, OPT_NOJIGTEST | OPT_NOALLTEST},
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{"versioning", test_versioning, 0},
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{"ctlmath", test_controlmath, 0},
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{"smoothz", test_smooth_z, 0},
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{NULL, NULL, 0}
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};
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#define NTESTS (sizeof(tests) / sizeof(tests[0]))
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static int
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test_all(int argc, char *argv[])
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{
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return test_runner(OPT_NOALLTEST);
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}
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static int
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test_help(int argc, char *argv[])
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{
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unsigned i;
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printf("Available tests:\n");
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for (size_t i = 0; tests[i].name; i++) {
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for (i = 0; tests[i].name; i++) {
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printf(" %s\n", tests[i].name);
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}
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return 0;
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}
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static int
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test_all(int argc, char *argv[])
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{
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return test_runner(OPT_NOALLTEST);
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}
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static int
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test_jig(int argc, char *argv[])
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{
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@ -155,24 +159,22 @@ test_jig(int argc, char *argv[])
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static int
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test_runner(unsigned option)
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{
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size_t i = 0;
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size_t i;
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char *args[2] = {"all", NULL};
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unsigned int failcount = 0;
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unsigned int testcount = 0;
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unsigned passed[NTESTS] = {};
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unsigned int passed[NTESTS];
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printf("\nRunning all tests...\n\n");
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for (i = 0; tests[i].name; i++) {
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/* Only run tests that are not excluded */
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// Only run tests that are not excluded.
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if (!(tests[i].options & option)) {
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for (int j = 0; j < 80; j++) {
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printf("-");
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}
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printf("\n");
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printf(" [%s] \t\tSTARTING TEST\n", tests[i].name);
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printf("\n [%s] \t\tSTARTING TEST\n", tests[i].name);
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fflush(stdout);
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/* Execute test */
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@ -192,22 +194,19 @@ test_runner(unsigned option)
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printf("-");
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}
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printf("\n\n");
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testcount++;
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printf("\n\n");
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}
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}
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/* Print summary */
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// Print summary.
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printf("\n");
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for (unsigned j = 0; j < 80; j++) {
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for (size_t j = 0; j < 80; j++) {
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printf("#");
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}
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printf("\n\n");
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printf(" T E S T S U M M A R Y\n\n");
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printf("\n\n T E S T S U M M A R Y\n\n");
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if (failcount == 0) {
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printf(" ______ __ __ ______ __ __ \n");
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@ -216,7 +215,7 @@ test_runner(unsigned option)
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printf(" \\ \\_\\ \\_\\ \\ \\_____\\ \\ \\_____\\ \\ \\_____\\ \\ \\_\\ \\_\\ \n");
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printf(" \\/_/\\/_/ \\/_____/ \\/_____/ \\/_____/ \\/_/\\/_/ \n");
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printf("\n");
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printf(" All tests passed (%d of %d)\n", testcount, testcount);
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printf(" All tests passed (%d of %d)\n\n", testcount, testcount);
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} else {
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printf(" ______ ______ __ __ \n");
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@ -225,24 +224,21 @@ test_runner(unsigned option)
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printf(" \\ \\_\\ \\ \\_\\ \\_\\ \\ \\_\\ \\ \\_____\\ \n");
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printf(" \\/_/ \\/_/\\/_/ \\/_/ \\/_____/ \n");
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printf("\n");
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printf(" Some tests failed (%d of %d)\n", failcount, testcount);
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printf(" Some tests failed (%d of %d)\n\n", failcount, testcount);
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}
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printf("\n");
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/* Print failed tests */
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// Print failed tests.
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if (failcount > 0) {
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printf(" Failed tests:\n\n");
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}
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for (unsigned k = 0; k < i; k++) {
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for (size_t k = 0; k < i; k++) {
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if (!passed[k] && !(tests[k].options & option)) {
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printf(" [%s] to obtain details, please re-run with\n\t nsh> tests %s\n\n", tests[k].name, tests[k].name);
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}
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}
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fflush(stdout);
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return (failcount > 0);
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}
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@ -258,13 +254,33 @@ int tests_main(int argc, char *argv[])
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return 1;
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}
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int tone_test_index = -1;
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char *tone_test = {"tone"};
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char *tone_fail[2] = {NULL, "2"};
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char *tone_pass[2] = {NULL, "14"};
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// Identify the tone test index for later use.
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for (size_t i = 0; tests[i].name; i++) {
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if (*tone_test == *tests[i].name) {
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tone_test_index = i;
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}
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}
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for (size_t i = 0; tests[i].name; i++) {
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if (!strcmp(tests[i].name, argv[1])) {
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if (tests[i].fn(argc - 1, argv + 1) == 0) {
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if (tone_test_index != -1) {
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tests[tone_test_index].fn(2, tone_pass); // Play a notification.
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}
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printf("%s PASSED\n", tests[i].name);
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return 0;
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} else {
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if (tone_test_index != -1) {
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tests[tone_test_index].fn(2, tone_fail); // Play an error notification.
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}
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printf("%s FAILED\n", tests[i].name);
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return -1;
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}
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