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Modernize system tests, API cleanup

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This commit is contained in:
Lorenz Meier
2015-02-08 16:43:55 +01:00
parent f7b79bfaf2
commit a4a3b1b25f
5 changed files with 61 additions and 194 deletions
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src/systemcmds/tests/test_float.c
+4 -4
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Copyright (c) 2012-2015 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
@@ -144,9 +144,9 @@ int test_float(int argc, char *argv[])
ret = -3;
}
float atan2f_ones = atan2(1.0f, 1.0f);
float atan2f_ones = atan2f(1.0f, 1.0f);
if (fabsf(atan2f_ones - 0.785398163397448278999490867136f) < FLT_EPSILON) {
if (fabsf(atan2f_ones - 0.785398163397448278999490867136f) < 2.0f * FLT_EPSILON) {
printf("\t success: atan2f(1.0f, 1.0f) == 0.78539f\n");
} else {
@@ -232,7 +232,7 @@ int test_float(int argc, char *argv[])
ret = -10;
}
if (fabs(atan2_ones - 0.785398) < DBL_EPSILON) {
if (fabs(atan2_ones - 0.785398163397448278999490867136) < 2.0 * DBL_EPSILON) {
printf("\t success: atan2(1.0, 1.0) == 0.785398\n");
} else {
src/systemcmds/tests/test_param.c
+32 -13
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Copyright (c) 2012-2015 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
@@ -39,11 +39,12 @@
#include <stdio.h>
#include "systemlib/err.h"
#include "systemlib/param/param.h"
#include "tests.h"
PARAM_DEFINE_INT32(test, 0x12345678);
#define PARAM_MAGIC1 0x12345678
#define PARAM_MAGIC2 0xa5a5a5a5
PARAM_DEFINE_INT32(test, PARAM_MAGIC1);
int
test_param(int argc, char *argv[])
@@ -51,26 +52,44 @@ test_param(int argc, char *argv[])
param_t p;
p = param_find("test");
if (p == PARAM_INVALID)
if (p == PARAM_INVALID) {
errx(1, "test parameter not found");
}
if (param_reset(p) != OK) {
errx(1, "failed param reset");
}
param_type_t t = param_type(p);
if (t != PARAM_TYPE_INT32)
if (t != PARAM_TYPE_INT32) {
errx(1, "test parameter type mismatch (got %u)", (unsigned)t);
}
int32_t val;
if (param_get(p, &val) != 0)
errx(1, "failed to read test parameter");
if (val != 0x12345678)
errx(1, "parameter value mismatch");
val = 0xa5a5a5a5;
if (param_set(p, &val) != 0)
if (param_get(p, &val) != OK) {
errx(1, "failed to read test parameter");
}
if (val != PARAM_MAGIC1) {
errx(1, "parameter value mismatch");
}
val = PARAM_MAGIC2;
if (param_set(p, &val) != OK) {
errx(1, "failed to write test parameter");
if (param_get(p, &val) != 0)
}
if (param_get(p, &val) != OK) {
errx(1, "failed to re-read test parameter");
if ((uint32_t)val != 0xa5a5a5a5)
}
if ((uint32_t)val != PARAM_MAGIC2) {
errx(1, "parameter value mismatch after write");
}
warnx("parameter test PASS");
src/systemcmds/tests/test_sensors.c
+22 -141
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
* Copyright (c) 2012-2015 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
@@ -62,24 +62,10 @@
#include <drivers/drv_mag.h>
#include <drivers/drv_baro.h>
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
/****************************************************************************
* Private Types
****************************************************************************/
/****************************************************************************
* Private Function Prototypes
****************************************************************************/
static int accel(int argc, char *argv[]);
static int gyro(int argc, char *argv[]);
static int mag(int argc, char *argv[]);
static int baro(int argc, char *argv[]);
static int accel1(int argc, char *argv[]);
static int gyro1(int argc, char *argv[]);
static int accel(int argc, char *argv[], const char* path);
static int gyro(int argc, char *argv[], const char* path);
static int mag(int argc, char *argv[], const char* path);
static int baro(int argc, char *argv[], const char* path);
/****************************************************************************
* Private Data
@@ -88,27 +74,19 @@ static int gyro1(int argc, char *argv[]);
struct {
const char *name;
const char *path;
int (* test)(int argc, char *argv[]);
int (* test)(int argc, char *argv[], const char* path);
} sensors[] = {
{"accel", "/dev/accel", accel},
{"gyro", "/dev/gyro", gyro},
{"mag", "/dev/mag", mag},
{"baro", "/dev/baro", baro},
{"accel1", "/dev/accel1", accel1},
{"gyro1", "/dev/gyro1", gyro1},
{"accel0", ACCEL_DEVICE_PATH, accel},
{"accel1", "/dev/accel1", accel},
{"gyro0", GYRO_DEVICE_PATH, gyro},
{"gyro1", "/dev/gyro1", gyro},
{"mag0", MAG_DEVICE_PATH, mag},
{"baro0", BARO_DEVICE_PATH, baro},
{NULL, NULL, NULL}
};
/****************************************************************************
* Public Data
****************************************************************************/
/****************************************************************************
* Private Functions
****************************************************************************/
static int
accel(int argc, char *argv[])
accel(int argc, char *argv[], const char* path)
{
printf("\tACCEL: test start\n");
fflush(stdout);
@@ -117,7 +95,7 @@ accel(int argc, char *argv[])
struct accel_report buf;
int ret;
fd = open("/dev/accel", O_RDONLY);
fd = open(path, O_RDONLY);
if (fd < 0) {
printf("\tACCEL: open fail, run <mpu6000 start> or <lsm303 start> or <bma180 start> first.\n");
@@ -158,58 +136,7 @@ accel(int argc, char *argv[])
}
static int
accel1(int argc, char *argv[])
{
printf("\tACCEL1: test start\n");
fflush(stdout);
int fd;
struct accel_report buf;
int ret;
fd = open("/dev/accel1", O_RDONLY);
if (fd < 0) {
printf("\tACCEL1: open fail, run <mpu6000 start> or <lsm303d start> first.\n");
return ERROR;
}
/* wait at least 100ms, sensor should have data after no more than 20ms */
usleep(100000);
/* read data - expect samples */
ret = read(fd, &buf, sizeof(buf));
if (ret != sizeof(buf)) {
printf("\tACCEL1: read1 fail (%d)\n", ret);
return ERROR;
} else {
printf("\tACCEL1 accel: x:%8.4f\ty:%8.4f\tz:%8.4f m/s^2\n", (double)buf.x, (double)buf.y, (double)buf.z);
}
if (fabsf(buf.x) > 30.0f || fabsf(buf.y) > 30.0f || fabsf(buf.z) > 30.0f) {
warnx("ACCEL1 acceleration values out of range!");
return ERROR;
}
float len = sqrtf(buf.x * buf.x + buf.y * buf.y + buf.z * buf.z);
if (len < 8.0f || len > 12.0f) {
warnx("ACCEL1 scale error!");
return ERROR;
}
/* Let user know everything is ok */
printf("\tOK: ACCEL1 passed all tests successfully\n");
close(fd);
return OK;
}
static int
gyro(int argc, char *argv[])
gyro(int argc, char *argv[], const char* path)
{
printf("\tGYRO: test start\n");
fflush(stdout);
@@ -218,7 +145,7 @@ gyro(int argc, char *argv[])
struct gyro_report buf;
int ret;
fd = open("/dev/gyro", O_RDONLY);
fd = open(path, O_RDONLY);
if (fd < 0) {
printf("\tGYRO: open fail, run <l3gd20 start> or <mpu6000 start> first.\n");
@@ -254,52 +181,7 @@ gyro(int argc, char *argv[])
}
static int
gyro1(int argc, char *argv[])
{
printf("\tGYRO1: test start\n");
fflush(stdout);
int fd;
struct gyro_report buf;
int ret;
fd = open("/dev/gyro1", O_RDONLY);
if (fd < 0) {
printf("\tGYRO1: open fail, run <l3gd20 start> or <mpu6000 start> first.\n");
return ERROR;
}
/* wait at least 5 ms, sensor should have data after that */
usleep(5000);
/* read data - expect samples */
ret = read(fd, &buf, sizeof(buf));
if (ret != sizeof(buf)) {
printf("\tGYRO1: read fail (%d)\n", ret);
return ERROR;
} else {
printf("\tGYRO1 rates: x:%8.4f\ty:%8.4f\tz:%8.4f rad/s\n", (double)buf.x, (double)buf.y, (double)buf.z);
}
float len = sqrtf(buf.x * buf.x + buf.y * buf.y + buf.z * buf.z);
if (len > 0.3f) {
warnx("GYRO1 scale error!");
return ERROR;
}
/* Let user know everything is ok */
printf("\tOK: GYRO1 passed all tests successfully\n");
close(fd);
return OK;
}
static int
mag(int argc, char *argv[])
mag(int argc, char *argv[], const char* path)
{
printf("\tMAG: test start\n");
fflush(stdout);
@@ -308,7 +190,7 @@ mag(int argc, char *argv[])
struct mag_report buf;
int ret;
fd = open("/dev/mag", O_RDONLY);
fd = open(path, O_RDONLY);
if (fd < 0) {
printf("\tMAG: open fail, run <hmc5883 start> or <lsm303 start> first.\n");
@@ -344,7 +226,7 @@ mag(int argc, char *argv[])
}
static int
baro(int argc, char *argv[])
baro(int argc, char *argv[], const char* path)
{
printf("\tBARO: test start\n");
fflush(stdout);
@@ -353,7 +235,7 @@ baro(int argc, char *argv[])
struct baro_report buf;
int ret;
fd = open("/dev/baro", O_RDONLY);
fd = open(path, O_RDONLY);
if (fd < 0) {
printf("\tBARO: open fail, run <ms5611 start> or <lps331 start> first.\n");
@@ -401,12 +283,11 @@ int test_sensors(int argc, char *argv[])
for (i = 0; sensors[i].name; i++) {
printf(" sensor: %s\n", sensors[i].name);
/* Flush and leave enough time for the flush to become effective */
/* Flush */
fflush(stdout);
usleep(50000);
/* Test the sensor - if the tests crash at this point, the right sensor name has been printed */
ret += sensors[i].test(argc, argv);
ret += sensors[i].test(argc, argv, sensors[i].path);
}
return ret;
src/systemcmds/tests/test_sleep.c
+1 -34
View File
@@ -51,42 +51,9 @@
#include "tests.h"
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
/****************************************************************************
* Private Types
****************************************************************************/
/****************************************************************************
* Private Function Prototypes
****************************************************************************/
/****************************************************************************
* Private Data
****************************************************************************/
/****************************************************************************
* Public Data
****************************************************************************/
/****************************************************************************
* Private Functions
****************************************************************************/
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: test_sleep
****************************************************************************/
int test_sleep(int argc, char *argv[])
{
unsigned int nsleeps = 100;
unsigned int nsleeps = 20;
printf("\t %d 100ms sleeps\n", nsleeps);
fflush(stdout);
src/systemcmds/tests/tests_main.c
+2 -2
View File
@@ -103,8 +103,8 @@ const struct {
{"jig", test_jig, OPT_NOJIGTEST | OPT_NOALLTEST},
{"param", test_param, 0},
{"bson", test_bson, 0},
{"file", test_file, 0},
{"file2", test_file2, OPT_NOJIGTEST | OPT_NOALLTEST},
{"file", test_file, OPT_NOJIGTEST | OPT_NOALLTEST},
{"file2", test_file2, OPT_NOJIGTEST},
{"mixer", test_mixer, OPT_NOJIGTEST | OPT_NOALLTEST},
{"rc", test_rc, OPT_NOJIGTEST | OPT_NOALLTEST},
{"conv", test_conv, OPT_NOJIGTEST | OPT_NOALLTEST},