Fix tests and re-introduce tests into build

Code style fix

cmake/configs/posix_sitl_default.cmake

@@ -88,7 +88,7 @@ set(config_module_list
 	#modules/mavlink/mavlink_tests #TODO: fix mavlink_tests
 	modules/unit_test
 	modules/uORB/uORB_tests
-	#systemcmds/tests
+	systemcmds/tests
 
 	)
 

src/systemcmds/tests/test_adc.c

@@ -49,7 +49,7 @@
 #include <fcntl.h>
 #include <errno.h>
 
-#include "tests.h"
+#include "tests_main.h"
 
 #include <drivers/drv_adc.h>
 

src/systemcmds/tests/test_bson.c

@@ -49,7 +49,7 @@
 #include <systemlib/err.h>
 #include <systemlib/bson/tinybson.h>
 
-#include "tests.h"
+#include "tests_main.h"
 
 static const bool sample_bool = true;
 static const int32_t sample_small_int = 123;

src/systemcmds/tests/test_conv.cpp

@@ -48,12 +48,11 @@
 #include <fcntl.h>
 #include <errno.h>
 
-#include "tests.h"
+#include "tests_main.h"
 
 #include <math.h>
 #include <float.h>
 
-#include <systemlib/err.h>
 #include <unit_test/unit_test.h>
 #include <px4iofirmware/protocol.h>
 

src/systemcmds/tests/test_file.c

@@ -53,7 +53,7 @@
 
 #include <drivers/drv_hrt.h>
 
-#include "tests.h"
+#include "tests_main.h"
 
 static int check_user_abort(int fd);
 

src/systemcmds/tests/test_file2.c

@@ -49,7 +49,7 @@
 #include <stdlib.h>
 #include <px4_getopt.h>
 
-#include "tests.h"
+#include "tests_main.h"
 
 #define FLAG_FSYNC 1
 #define FLAG_LSEEK 2

src/systemcmds/tests/test_gpio.c

@@ -49,7 +49,7 @@
 
 #include <px4_adc.h>
 
-#include "tests.h"
+#include "tests_main.h"
 
 #include <drivers/drv_gpio.h>
 
@@ -96,7 +96,7 @@ int test_gpio(int argc, char *argv[])
 	int fd = px4_open(PX4IO_DEVICE_PATH, 0);
 
 	if (fd < 0) {
-		printf("GPIO: open fail\n");
+		PX4_ERR("GPIO: open fail");
 		return ERROR;
 	}
 
@@ -111,7 +111,7 @@ int test_gpio(int argc, char *argv[])
 	px4_ioctl(fd, GPIO_RESET, ~0);
 
 	px4_close(fd);
-	printf("\t GPIO test successful.\n");
+	PX4_INFO("GPIO test successful.");
 
 #endif
 

src/systemcmds/tests/test_hott_telemetry.c

@@ -58,7 +58,7 @@
 #include <termios.h>
 #include <unistd.h>
 
-#include "tests.h"
+#include "tests_main.h"
 
 
 /****************************************************************************

src/systemcmds/tests/test_hrt.c

@@ -53,9 +53,7 @@
 #include <drivers/drv_hrt.h>
 #include <drivers/drv_tone_alarm.h>
 
-//#include <nuttx/spi.h>
-
-#include "tests.h"
+#include "tests_main.h"
 
 /****************************************************************************
  * Pre-processor Definitions

src/systemcmds/tests/test_jig_voltages.c

@@ -46,9 +46,7 @@
 #include <fcntl.h>
 #include <errno.h>
 
-//#include <nuttx/spi.h>
-
-#include "tests.h"
+#include "tests_main.h"
 
 #include <px4_adc.h>
 #include <drivers/drv_adc.h>
@@ -93,7 +91,7 @@ int test_jig_voltages(int argc, char *argv[])
 	int ret = OK;
 
 	if (fd < 0) {
-		warnx("can't open ADC device");
+		PX4_ERR("can't open ADC device");
 		return 1;
 	}
 
@@ -104,7 +102,7 @@ int test_jig_voltages(int argc, char *argv[])
 
 	if (count < 0) {
 		close(fd);
-		warnx("can't read from ADC driver. Forgot 'adc start' command?");
+		PX4_ERR("can't read from ADC driver. Forgot 'adc start' command?");
 		return 1;
 	}
 
@@ -116,7 +114,7 @@ int test_jig_voltages(int argc, char *argv[])
 
 	printf("\n");
 
-	warnx("\t ADC operational.\n");
+	PX4_INFO("\t ADC operational.\n");
 
 	/* Expected values */
 	int16_t expected_min[] = {2800, 2800, 1800,  800};
@@ -125,7 +123,7 @@ int test_jig_voltages(int argc, char *argv[])
 
 	if (channels < 4) {
 		close(fd);
-		warnx("not all four test channels available, aborting.");
+		PX4_ERR("not all four test channels available, aborting.");
 		return 1;
 
 	} else {
@@ -141,23 +139,23 @@ int test_jig_voltages(int argc, char *argv[])
 		ret += (expected_min[2] > data[2].am_data || expected_max[2] < data[2].am_data) ? 1 : 0;
 		ret += (expected_min[3] > data[3].am_data || expected_max[3] < data[3].am_data) ? 1 : 0;
 
-		message("Sample:");
-		message("channel: %d value: %d (allowed min: %d, allowed max: %d), result: %s\n",
-			data[0].am_channel, (int)(data[0].am_data), expected_min[0], expected_max[0], check_res[0]);
-		message("channel: %d value: %d (allowed min: %d, allowed max: %d), result: %s\n",
-			data[1].am_channel, (int)(data[1].am_data), expected_min[1], expected_max[1], check_res[1]);
-		message("channel: %d value: %d (allowed min: %d, allowed max: %d), result: %s\n",
-			data[2].am_channel, (int)(data[2].am_data), expected_min[2], expected_max[2], check_res[2]);
-		message("channel: %d value: %d (allowed min: %d, allowed max: %d), result: %s\n",
-			data[3].am_channel, (int)(data[3].am_data), expected_min[3], expected_max[3], check_res[3]);
+		PX4_INFO("Sample:");
+		PX4_INFO("channel: %d value: %d (allowed min: %d, allowed max: %d), result: %s",
+			 data[0].am_channel, (int)(data[0].am_data), expected_min[0], expected_max[0], check_res[0]);
+		PX4_INFO("channel: %d value: %d (allowed min: %d, allowed max: %d), result: %s",
+			 data[1].am_channel, (int)(data[1].am_data), expected_min[1], expected_max[1], check_res[1]);
+		PX4_INFO("channel: %d value: %d (allowed min: %d, allowed max: %d), result: %s",
+			 data[2].am_channel, (int)(data[2].am_data), expected_min[2], expected_max[2], check_res[2]);
+		PX4_INFO("channel: %d value: %d (allowed min: %d, allowed max: %d), result: %s",
+			 data[3].am_channel, (int)(data[3].am_data), expected_min[3], expected_max[3], check_res[3]);
 
 		if (ret != OK) {
-			printf("\t JIG voltages test FAILED. Some channels where out of allowed range. Check supply voltages.\n");
+			PX4_ERR("\t JIG voltages test FAILED. Some channels where out of allowed range. Check supply voltages.");
 			goto errout_with_dev;
 		}
 	}
 
-	printf("\t JIG voltages test successful.\n");
+	PX4_INFO("JIG voltages test successful.");
 
 errout_with_dev:
 

src/systemcmds/tests/test_led.c

@@ -51,7 +51,7 @@
 
 #include <drivers/drv_led.h>
 
-#include "tests.h"
+#include "tests_main.h"
 
 /****************************************************************************
  * Pre-processor Definitions

src/systemcmds/tests/test_mathlib.cpp

@@ -54,6 +54,8 @@
 #include <systemlib/err.h>
 #include <drivers/drv_hrt.h>
 
+#include "tests_main.h"
+
 class MathlibTest : public UnitTest
 {
 public:
@@ -73,8 +75,6 @@ private:
 	bool testQuaternionRotate();
 };
 
-#include "tests.h"
-
 #define TEST_OP(_title, _op) { unsigned int n = 30000; hrt_abstime t0, t1; t0 = hrt_absolute_time(); for (unsigned int j = 0; j < n; j++) { _op; }; t1 = hrt_absolute_time(); PX4_INFO(_title ": %.6fus", (double)(t1 - t0) / n); }
 
 using namespace math;

src/systemcmds/tests/test_mixer.cpp

@@ -58,7 +58,7 @@
 
 #include <uORB/topics/actuator_controls.h>
 
-#include "tests.h"
+#include "tests_main.h"
 
 static int	mixer_callback(uintptr_t handle,
 			       uint8_t control_group,

src/systemcmds/tests/test_mount.c

@@ -41,6 +41,7 @@
 
 #include <px4_config.h>
 #include <px4_posix.h>
+#include <px4_tasks.h>
 
 #include <sys/stat.h>
 #include <dirent.h>
@@ -53,7 +54,7 @@
 
 #include <drivers/drv_hrt.h>
 
-#include "tests.h"
+#include "tests_main.h"
 
 const int fsync_tries = 1;
 const int abort_tries = 10;

src/systemcmds/tests/test_params.c

@@ -41,7 +41,7 @@
 #include <stdio.h>
 #include "systemlib/err.h"
 #include "systemlib/param/param.h"
-#include "tests.h"
+#include "tests_main.h"
 
 #define PARAM_MAGIC1 12345678
 #define PARAM_MAGIC2 0xa5a5a5a5

src/systemcmds/tests/test_perf.c

@@ -36,7 +36,7 @@
 
 #include <systemlib/perf_counter.h>
 
-#include "tests.h"
+#include "tests_main.h"
 
 int
 test_perf(int argc, char *argv[])

src/systemcmds/tests/test_ppm_loopback.c

@@ -53,7 +53,7 @@
 #include <uORB/topics/rc_channels.h>
 #include <systemlib/err.h>
 
-#include "tests.h"
+#include "tests_main.h"
 
 #include <math.h>
 #include <float.h>

src/systemcmds/tests/test_rc.c

@@ -54,7 +54,7 @@
 #include <drivers/drv_hrt.h>
 #include <systemlib/err.h>
 
-#include "tests.h"
+#include "tests_main.h"
 
 #include <math.h>
 #include <float.h>

src/systemcmds/tests/test_sensors.c

@@ -53,9 +53,7 @@
 
 #include <arch/board/board.h>
 
-//#include <nuttx/spi.h>
-
-#include "tests.h"
+#include "tests_main.h"
 
 #include <drivers/drv_gyro.h>
 #include <drivers/drv_accel.h>

src/systemcmds/tests/test_servo.c

@@ -52,9 +52,7 @@
 #include <drivers/drv_pwm_output.h>
 #include <systemlib/err.h>
 
-//#include <nuttx/spi.h>
-
-#include "tests.h"
+#include "tests_main.h"
 
 int test_servo(int argc, char *argv[])
 {

src/systemcmds/tests/test_sleep.c

@@ -49,7 +49,7 @@
 
 #include <arch/board/board.h>
 
-#include "tests.h"
+#include "tests_main.h"
 
 int test_sleep(int argc, char *argv[])
 {

src/systemcmds/tests/test_time.c

@@ -49,7 +49,7 @@
 
 #include <arch/board/board.h>
 
-#include "tests.h"
+#include "tests_main.h"
 
 #include <math.h>
 #include <float.h>

src/systemcmds/tests/test_uart_baudchange.c

@@ -52,7 +52,7 @@
 
 #include <arch/board/board.h>
 
-#include "tests.h"
+#include "tests_main.h"
 
 #include <math.h>
 #include <float.h>

src/systemcmds/tests/test_uart_console.c

@@ -50,7 +50,7 @@
 
 #include <arch/board/board.h>
 
-#include "tests.h"
+#include "tests_main.h"
 
 #include <math.h>
 #include <float.h>

src/systemcmds/tests/test_uart_loopback.c

@@ -50,7 +50,7 @@
 
 #include <arch/board/board.h>
 
-#include "tests.h"
+#include "tests_main.h"
 
 #include <math.h>
 #include <float.h>

src/systemcmds/tests/test_uart_send.c

@@ -49,7 +49,7 @@
 
 #include <arch/board/board.h>
 
-#include "tests.h"
+#include "tests_main.h"
 
 #include <math.h>
 #include <float.h>

src/systemcmds/tests/tests_main.c

@@ -38,12 +38,10 @@
  * @author Lorenz Meier <lm@inf.ethz.ch>
  */
 
-#include "tests.h"
+#include "tests_main.h"
 
 #include <px4_config.h>
 
-#include <sys/types.h>
-
 #include <stdio.h>
 #include <string.h>
 #include <fcntl.h>
@@ -52,7 +50,7 @@
 // Not using Eigen at the moment
 #define TESTS_EIGEN_DISABLE
 
-#include "tests.h"
+#include "tests_main.h"
 
 /****************************************************************************
  * Private Function Prototypes

src/systemcmds/tests/tests_main.h

@@ -35,7 +35,7 @@
 #define __APPS_PX4_TESTS_H
 
 /**
- * @file tests.h
+ * @file tests_main.h
  * Tests declaration file.
  *
  */
@@ -50,26 +50,6 @@
  * Definitions
  ****************************************************************************/
 
-/* Debug ********************************************************************/
-
-#ifdef CONFIG_CPP_HAVE_VARARGS
-#  ifdef CONFIG_DEBUG
-#    define message(...) lowsyslog(__VA_ARGS__)
-#    define msgflush()
-#  else
-#    define message(...) printf(__VA_ARGS__)
-#    define msgflush() fflush(stdout)
-#  endif
-#else
-#  ifdef CONFIG_DEBUG
-#    define message lowsyslog
-#    define msgflush()
-#  else
-#    define message printf
-#    define msgflush() fflush(stdout)
-#  endif
-#endif
-
 __BEGIN_DECLS
 
 extern int	test_adc(int argc, char *argv[]);