systemcmds/tests: split out microbenchmarks and remove obsolete tests

- reorganize Jenkins HIL tests

src/systemcmds/microbench/microbench_main.cpp

@@ -0,0 +1,167 @@
+/****************************************************************************
+ *
+ *  Copyright (C) 2015-2021 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
+ * 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.
+ *
+ ****************************************************************************/
+
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/log.h>
+
+#include <stdio.h>
+#include <string.h>
+#include <fcntl.h>
+#include <errno.h>
+
+__BEGIN_DECLS
+
+extern int test_microbench_atomic(int argc, char *argv[]);
+extern int test_microbench_hrt(int argc, char *argv[]);
+extern int test_microbench_math(int argc, char *argv[]);
+extern int test_microbench_matrix(int argc, char *argv[]);
+extern int test_microbench_uorb(int argc, char *argv[]);
+
+__END_DECLS
+
+static int microbench_help(int argc, char *argv[]);
+static int microbench_all(int argc, char *argv[]);
+static int microbench_runner(unsigned option);
+
+const struct {
+	const char 	*name;
+	int	(* fn)(int argc, char *argv[]);
+	unsigned	options;
+#define OPT_NOHELP	(1<<0)
+#define OPT_NOALLTEST	(1<<1)
+} microbenchmarks[] = {
+	{"help",		microbench_help,		OPT_NOALLTEST | OPT_NOHELP},
+	{"all",		microbench_all,		OPT_NOALLTEST},
+
+	{"microbench_atomic",	test_microbench_atomic,	0},
+	{"microbench_hrt",	test_microbench_hrt,	0},
+	{"microbench_math",	test_microbench_math,	0},
+	{"microbench_matrix",	test_microbench_matrix,	0},
+	{"microbench_uorb",	test_microbench_uorb,	0},
+
+	{NULL,			NULL, 		0}
+};
+
+#define NMICROBENCHMARKS (sizeof(microbenchmarks) / sizeof(microbenchmarks[0]))
+
+static int microbench_help(int argc, char *argv[])
+{
+	printf("Available tests:\n");
+
+	for (int i = 0; microbenchmarks[i].name; i++) {
+		printf("  %s\n", microbenchmarks[i].name);
+	}
+
+	return 0;
+}
+
+static int microbench_all(int argc, char *argv[])
+{
+	return microbench_runner(OPT_NOALLTEST);
+}
+
+static int microbench_runner(unsigned option)
+{
+	size_t i;
+	char *args[2] = {"all", NULL};
+	unsigned int failcount = 0;
+	unsigned int testcount = 0;
+	unsigned int passed[NMICROBENCHMARKS];
+
+	printf("\nRunning all microbenchmarks...\n\n");
+
+	for (i = 0; microbenchmarks[i].name; i++) {
+		// Only run tests that are not excluded.
+		if (!(microbenchmarks[i].options & option)) {
+			for (int j = 0; j < 80; j++) {
+				printf("-");
+			}
+
+			printf("\n  [%s] \t\tSTARTING TEST\n", microbenchmarks[i].name);
+			fflush(stdout);
+
+			/* Execute test */
+			if (microbenchmarks[i].fn(1, args) != 0) {
+				fprintf(stderr, "  [%s] \t\tFAIL\n", microbenchmarks[i].name);
+				fflush(stderr);
+				failcount++;
+				passed[i] = 0;
+
+			} else {
+				printf("  [%s] \t\tPASS\n", microbenchmarks[i].name);
+				fflush(stdout);
+				passed[i] = 1;
+			}
+
+			for (int j = 0; j < 80; j++) {
+				printf("-");
+			}
+
+			testcount++;
+			printf("\n\n");
+		}
+	}
+
+	for (size_t k = 0; k < i; k++) {
+		if (!passed[k] && !(microbenchmarks[k].options & option)) {
+			printf(" [%s] to obtain details, please re-run with\n\t nsh> microbench %s\n\n", microbenchmarks[k].name,
+			       microbenchmarks[k].name);
+		}
+	}
+
+	return 0;
+}
+
+extern "C" __EXPORT int microbench_main(int argc, char *argv[])
+{
+	if (argc < 2) {
+		PX4_WARN("missing test name - 'microbench help' for a list of tests");
+		return 1;
+	}
+
+	for (size_t i = 0; microbenchmarks[i].name; i++) {
+		if (!strcmp(microbenchmarks[i].name, argv[1])) {
+			if (microbenchmarks[i].fn(argc - 1, argv + 1) == 0) {
+				PX4_INFO("%s PASSED", microbenchmarks[i].name);
+				return 0;
+
+			} else {
+				PX4_ERR("%s FAILED", microbenchmarks[i].name);
+				return -1;
+			}
+		}
+	}
+
+	PX4_WARN("no test called '%s' - 'microbench help' for a list of tests", argv[1]);
+	return 1;
+}