Update the test_tone() unit test to use orb_advertise() and orb_publish()...

Update the test_tone() unit test to use orb_advertise() and orb_publish() instead of IOCTL() and alphabetize tests_main.h.

src/systemcmds/tests/test_tone.cpp

@@ -40,63 +40,53 @@
 
 #include <drivers/drv_hrt.h>
 #include <drivers/drv_tone_alarm.h>
+#include <lib/tunes/tunes.h>
 #include <px4_posix.h>
+#include <uORB/topics/tune_control.h>
 
 #include "tests_main.h"
 
-
 int test_tone(int argc, char *argv[])
 {
-	int fd, result;
-	unsigned long tone;
-
-	fd = px4_open(TONE_ALARM0_DEVICE_PATH, O_WRONLY);
-
-	if (fd < 0) {
-		printf("failed opening " TONE_ALARM0_DEVICE_PATH "\n");
-		goto out;
-	}
+	int result = PX4_ERROR;
+	tune_control_s tune_control = {};
+	tune_control.tune_id = static_cast<int>(TuneID::NOTIFY_NEGATIVE);
 
-	tone = 1;
+	orb_advert_t tune_control_pub = orb_advertise(ORB_ID(tune_control), &tune_control);
 
-	if (argc == 2) {
-		tone = atoi(argv[1]);
-	}
+	if (argc == 1) {
+		PX4_INFO("Volume silenced for testing predefined tunes 0-20.");
+		tune_control.strength = 0;
 
-	if (tone  == 0) {
-		result = px4_ioctl(fd, TONE_SET_ALARM, TONE_STOP_TUNE);
+		for (size_t i = 0; i <= 20; i++) {
+			tune_control.tune_id = i;
+			result = orb_publish(ORB_ID(tune_control), tune_control_pub, &tune_control);
 
-		if (result < 0) {
-			printf("failed clearing alarms\n");
-			goto out;
-
-		} else {
-			printf("Alarm stopped.\n");
+			if (result != PX4_OK) {
+				PX4_INFO("Error publishing TuneID: %d", tune_control.tune_id);
+				return result;
+			}
 		}
 
-	} else {
-		result = px4_ioctl(fd, TONE_SET_ALARM, TONE_STOP_TUNE);
-
-		if (result < 0) {
-			printf("failed clearing alarms\n");
-			goto out;
-		}
-
-		result = px4_ioctl(fd, TONE_SET_ALARM, tone);
-
-		if (result < 0) {
-			printf("failed setting alarm %lu\n", tone);
+		tune_control.tune_id = static_cast<int>(TuneID::NOTIFY_POSITIVE);
+	}
 
-		} else {
-			printf("Alarm %lu (disable with: tests tone 0)\n", tone);
+	if (argc == 2) {
+		if (tune_control.tune_id <= 20) {
+			tune_control.tune_id = atoi(argv[1]);
+			PX4_INFO("Testing TuneID: %d", tune_control.tune_id);
 		}
 	}
 
-out:
-
-	if (fd >= 0) {
-		px4_close(fd);
+	if (argc == 3) {
+		Tunes tunes{};
+		tunes.set_string(argv[2], 40);
+		PX4_INFO("Testing custom tune.");
 	}
 
-	return 0;
+	tune_control.strength = 40;
+	result = orb_publish(ORB_ID(tune_control), tune_control_pub, &tune_control);
+
+	orb_unadvertise(tune_control_pub);
+	return result;
 }

src/systemcmds/tests/tests_main.h

@@ -45,9 +45,9 @@ __BEGIN_DECLS
 
 extern int test_adc(int argc, char *argv[]);
 extern int test_autodeclination(int argc, char *argv[]);
-extern int test_hysteresis(int argc, char *argv[]);
 extern int test_bezierQuad(int argc, char *argv[]);
 extern int test_bson(int argc, char *argv[]);
+extern int test_controlmath(int argc, char *argv[]);
 extern int test_conv(int argc, char *argv[]);
 extern int test_dataman(int argc, char *argv[]);
 extern int test_file(int argc, char *argv[]);
@@ -55,6 +55,7 @@ extern int test_file2(int argc, char *argv[]);
 extern int test_float(int argc, char *argv[]);
 extern int test_hott_telemetry(int argc, char *argv[]);
 extern int test_hrt(int argc, char *argv[]);
+extern int test_hysteresis(int argc, char *argv[]);
 extern int test_int(int argc, char *argv[]);
 extern int test_jig_voltages(int argc, char *argv[]);
 extern int test_led(int argc, char *argv[]);
@@ -67,6 +68,7 @@ extern int test_microbench_uorb(int argc, char *argv[]);
 extern int test_mixer(int argc, char *argv[]);
 extern int test_mount(int argc, char *argv[]);
 extern int test_param(int argc, char *argv[]);
+extern int test_parameters(int argc, char *argv[]);
 extern int test_perf(int argc, char *argv[]);
 extern int test_ppm(int argc, char *argv[]);
 extern int test_ppm_loopback(int argc, char *argv[]);
@@ -75,6 +77,7 @@ 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[]);
 extern int test_time(int argc, char *argv[]);
 extern int test_tone(int argc, char *argv[]);
 extern int test_uart_baudchange(int argc, char *argv[]);
@@ -82,10 +85,7 @@ extern int test_uart_break(int argc, char *argv[]);
 extern int test_uart_console(int argc, char *argv[]);
 extern int test_uart_loopback(int argc, char *argv[]);
 extern int test_uart_send(int argc, char *argv[]);
-extern int test_parameters(int argc, char *argv[]);
 extern int test_versioning(int argc, char *argv[]);
-extern int test_smooth_z(int argc, char *argv[]);
-extern int test_controlmath(int argc, char *argv[]);
 
 /* external */
 extern int commander_tests_main(int argc, char *argv[]);