From df01eda5504d1fae8e4788dec11ced7b6c2ce1d4 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Tue, 10 Sep 2019 13:33:00 -0400 Subject: [PATCH] systemcmds/tests: delete obsolete test_sensors --- src/systemcmds/tests/CMakeLists.txt | 1 - src/systemcmds/tests/test_sensors.c | 292 ---------------------------- src/systemcmds/tests/tests_main.c | 1 - src/systemcmds/tests/tests_main.h | 1 - 4 files changed, 295 deletions(-) delete mode 100644 src/systemcmds/tests/test_sensors.c diff --git a/src/systemcmds/tests/CMakeLists.txt b/src/systemcmds/tests/CMakeLists.txt index b547d81e69..ea77ef548e 100644 --- a/src/systemcmds/tests/CMakeLists.txt +++ b/src/systemcmds/tests/CMakeLists.txt @@ -64,7 +64,6 @@ set(srcs test_ppm_loopback.c test_rc.c test_search_min.cpp - test_sensors.c test_servo.c test_sleep.c test_smooth_z.cpp diff --git a/src/systemcmds/tests/test_sensors.c b/src/systemcmds/tests/test_sensors.c deleted file mode 100644 index 09ed6edaf0..0000000000 --- a/src/systemcmds/tests/test_sensors.c +++ /dev/null @@ -1,292 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012-2019 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. - * - ****************************************************************************/ - -/** - * @file test_sensors.c - * Tests the onboard sensors. - * @author Lorenz Meier - */ - -#include -#include -#include - -#include - -#include -#include -#include -#include -#include -#include -#include - -#include - -#include "tests_main.h" - -#include -#include -#include -#include - -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 - ****************************************************************************/ - -struct { - const char *name; - const char *path; - int (* test)(int argc, char *argv[], const char *path); -} sensors[] = { - {"accel0", "/dev/accel0", accel}, - {"accel1", "/dev/accel1", accel}, - {"gyro0", "/dev/gyro0", gyro}, - {"gyro1", "/dev/gyro1", gyro}, - {"mag0", MAG0_DEVICE_PATH, mag}, - {"baro0", BARO0_DEVICE_PATH, baro}, - {NULL, NULL, NULL} -}; - -static int -accel(int argc, char *argv[], const char *path) -{ - printf("\tACCEL: test start\n"); - fflush(stdout); - - int fd; - struct sensor_accel_s buf; - int ret; - - fd = px4_open(path, O_RDONLY); - - if (fd < 0) { - printf("\tACCEL: open fail, run or or first.\n"); - return ERROR; - } - - /* wait at least 100ms, sensor should have data after no more than 20ms */ - px4_usleep(100000); - - /* read data - expect samples */ - ret = px4_read(fd, &buf, sizeof(buf)); - - if (ret != sizeof(buf)) { - printf("\tACCEL: read1 fail (%d)\n", ret); - return ERROR; - - } else { - printf("\tACCEL 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("ACCEL 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("ACCEL scale error!"); - return ERROR; - } - - /* Let user know everything is ok */ - printf("\tOK: ACCEL passed all tests successfully\n"); - px4_close(fd); - - return OK; -} - -static int -gyro(int argc, char *argv[], const char *path) -{ - printf("\tGYRO: test start\n"); - fflush(stdout); - - int fd; - struct sensor_gyro_s buf; - int ret; - - fd = px4_open(path, O_RDONLY); - - if (fd < 0) { - printf("\tGYRO: open fail, run or first.\n"); - return ERROR; - } - - /* wait at least 5 ms, sensor should have data after that */ - px4_usleep(5000); - - /* read data - expect samples */ - ret = px4_read(fd, &buf, sizeof(buf)); - - if (ret != sizeof(buf)) { - printf("\tGYRO: read fail (%d)\n", ret); - return ERROR; - - } else { - printf("\tGYRO 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("GYRO scale error!"); - return ERROR; - } - - /* Let user know everything is ok */ - printf("\tOK: GYRO passed all tests successfully\n"); - px4_close(fd); - - return OK; -} - -static int -mag(int argc, char *argv[], const char *path) -{ - printf("\tMAG: test start\n"); - fflush(stdout); - - int fd; - struct mag_report buf; - int ret; - - fd = px4_open(path, O_RDONLY); - - if (fd < 0) { - printf("\tMAG: open fail, run or first.\n"); - return ERROR; - } - - /* wait at least 5 ms, sensor should have data after that */ - px4_usleep(5000); - - /* read data - expect samples */ - ret = px4_read(fd, &buf, sizeof(buf)); - - if (ret != sizeof(buf)) { - printf("\tMAG: read fail (%d)\n", ret); - return ERROR; - - } else { - printf("\tMAG values: x:%8.4f\ty:%8.4f\tz:%8.4f\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 < 0.25f || len > 3.0f) { - warnx("MAG scale error!"); - return ERROR; - } - - /* Let user know everything is ok */ - printf("\tOK: MAG passed all tests successfully\n"); - px4_close(fd); - - return OK; -} - -static int -baro(int argc, char *argv[], const char *path) -{ - printf("\tBARO: test start\n"); - fflush(stdout); - - int fd; - struct sensor_baro_s buf; - int ret; - - fd = px4_open(path, O_RDONLY); - - if (fd < 0) { - printf("\tBARO: open fail, run or first.\n"); - return ERROR; - } - - /* wait at least 5 ms, sensor should have data after that */ - px4_usleep(5000); - - /* read data - expect samples */ - ret = px4_read(fd, &buf, sizeof(buf)); - - if (ret != sizeof(buf)) { - printf("\tBARO: read fail (%d)\n", ret); - return ERROR; - - } else { - printf("\tBARO pressure: %8.4f mbar\t temp: %8.4f deg C\n", (double)buf.pressure, (double)buf.temperature); - } - - /* Let user know everything is ok */ - printf("\tOK: BARO passed all tests successfully\n"); - px4_close(fd); - - return OK; -} - -/**************************************************************************** - * Public Functions - ****************************************************************************/ - -/**************************************************************************** - * Name: test_sensors - ****************************************************************************/ - -int test_sensors(int argc, char *argv[]) -{ - unsigned i; - - printf("Running sensors tests:\n\n"); - fflush(stdout); - - int ret = OK; - - for (i = 0; sensors[i].name; i++) { - printf(" sensor: %s\n", sensors[i].name); - - /* Flush */ - fflush(stdout); - /* Test the sensor - if the tests crash at this point, the right sensor name has been printed */ - - ret += sensors[i].test(argc, argv, sensors[i].path); - } - - return ret; -} diff --git a/src/systemcmds/tests/tests_main.c b/src/systemcmds/tests/tests_main.c index 7dabaf082a..7d4049cd11 100644 --- a/src/systemcmds/tests/tests_main.c +++ b/src/systemcmds/tests/tests_main.c @@ -73,7 +73,6 @@ const struct { {"adc", test_adc, OPT_NOJIGTEST}, {"file", test_file, OPT_NOJIGTEST | OPT_NOALLTEST}, {"led", test_led, 0}, - {"sensors", test_sensors, 0}, {"time", test_time, OPT_NOJIGTEST}, {"uart_baudchange", test_uart_baudchange, OPT_NOJIGTEST}, {"uart_break", test_uart_break, OPT_NOJIGTEST | OPT_NOALLTEST}, diff --git a/src/systemcmds/tests/tests_main.h b/src/systemcmds/tests/tests_main.h index 604e017b8e..0646697635 100644 --- a/src/systemcmds/tests/tests_main.h +++ b/src/systemcmds/tests/tests_main.h @@ -75,7 +75,6 @@ extern int test_ppm(int argc, char *argv[]); extern int test_ppm_loopback(int argc, char *argv[]); extern int test_rc(int argc, char *argv[]); extern int test_search_min(int argc, char *argv[]); -extern int test_sensors(int argc, char *argv[]); extern int test_servo(int argc, char *argv[]); extern int test_sleep(int argc, char *argv[]); extern int test_smooth_z(int argc, char *argv[]);