diff --git a/src/systemcmds/tests/test_tone.cpp b/src/systemcmds/tests/test_tone.cpp
index 198f546aedfccd703f67972c2c25e0712bcc7ff3..b3d9b274926e851c9334ed5c9132b3ad9bfc72df 100644
--- a/src/systemcmds/tests/test_tone.cpp
+++ b/src/systemcmds/tests/test_tone.cpp
@@ -72,16 +72,18 @@ int test_tone(int argc, char *argv[])
}
if (argc == 2) {
+ tune_control.tune_id = atoi(argv[1]);
+
if (tune_control.tune_id <= 20) {
- tune_control.tune_id = atoi(argv[1]);
- PX4_INFO("Testing TuneID: %d", tune_control.tune_id);
+ PX4_INFO("TuneID: %d", tune_control.tune_id);
}
}
if (argc == 3) {
+ int volume = 40;
Tunes tunes{};
- tunes.set_string(argv[2], 40);
- PX4_INFO("Testing custom tune.");
+ tunes.set_string(argv[2], volume);
+ PX4_INFO("Custom tune.");
}
tune_control.strength = 40;
diff --git a/src/systemcmds/tests/tests_main.c b/src/systemcmds/tests/tests_main.c
index 70cc719c6ec21a15ba7fde3ad4fe17d0f41525e9..4fba8333fc0e7f1e8bfb03d8c2c233a2188163c4 100644
--- a/src/systemcmds/tests/tests_main.c
+++ b/src/systemcmds/tests/tests_main.c
@@ -51,101 +51,105 @@
#define TESTS_EIGEN_DISABLE
-static int test_all(int argc, char *argv[]);
static int test_help(int argc, char *argv[]);
-static int test_jig(int argc, char *argv[]);
static int test_runner(unsigned option);
+static int test_all(int argc, char *argv[]);
+static int test_jig(int argc, char *argv[]);
const struct {
- const char *name;
- int (* fn)(int argc, char *argv[]);
- unsigned options;
-#define OPT_NOHELP (1<<0)
-#define OPT_NOALLTEST (1<<1)
-#define OPT_NOJIGTEST (1<<2)
+ const char *name;
+ int (* fn)(int argc, char *argv[]);
+ unsigned options;
+#define OPT_NOHELP (1<<0)
+#define OPT_NOALLTEST (1<<1)
+#define OPT_NOJIGTEST (1<<2)
} tests[] = {
- {"all", test_all, OPT_NOALLTEST | OPT_NOJIGTEST},
- {"help", test_help, OPT_NOALLTEST | OPT_NOHELP | OPT_NOJIGTEST},
- {"jig", test_jig, OPT_NOJIGTEST | OPT_NOALLTEST},
+ {"help", test_help, OPT_NOALLTEST | OPT_NOHELP | OPT_NOJIGTEST},
+ {"all", test_all, OPT_NOALLTEST | OPT_NOJIGTEST},
+ {"jig", test_jig, OPT_NOJIGTEST | OPT_NOALLTEST},
#ifdef __PX4_NUTTX
- {"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},
- {"uart_console", test_uart_console, OPT_NOJIGTEST | OPT_NOALLTEST},
+ {"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},
+ {"uart_console", test_uart_console, OPT_NOJIGTEST | OPT_NOALLTEST},
#else
- {"mavlink", mavlink_tests_main, 0},
- {"rc", rc_tests_main, 0},
+ {"rc", rc_tests_main, 0},
#endif /* __PX4_NUTTX */
/* external tests */
- {"commander", commander_tests_main, 0},
- {"controllib", controllib_test_main, 0},
- {"sf0x", sf0x_tests_main, 0},
- {"uorb", uorb_tests_main, 0},
-
- {"autodeclination", test_autodeclination, 0},
- {"bezier", test_bezierQuad, 0},
- {"bson", test_bson, 0},
- {"conv", test_conv, 0},
- {"ctlmath", test_controlmath, 0},
- {"dataman", test_dataman, OPT_NOJIGTEST | OPT_NOALLTEST},
- {"file2", test_file2, OPT_NOJIGTEST},
- {"float", test_float, 0},
- {"hott_telemetry", test_hott_telemetry, OPT_NOJIGTEST | OPT_NOALLTEST},
- {"hrt", test_hrt, OPT_NOJIGTEST | OPT_NOALLTEST},
- {"hysteresis", test_hysteresis, 0},
- {"int", test_int, 0},
- {"jig_voltages", test_jig_voltages, OPT_NOALLTEST},
- {"mathlib", test_mathlib, 0},
- {"matrix", test_matrix, 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},
- {"mixer", test_mixer, OPT_NOJIGTEST},
- {"mount", test_mount, OPT_NOJIGTEST | OPT_NOALLTEST},
- {"param", test_param, 0},
- {"parameters", test_parameters, 0},
- {"perf", test_perf, OPT_NOJIGTEST},
- {"ppm", test_ppm, OPT_NOJIGTEST | OPT_NOALLTEST},
- {"ppm_loopback", test_ppm_loopback, OPT_NOALLTEST},
- {"rc", test_rc, OPT_NOJIGTEST | OPT_NOALLTEST},
- {"search_min", test_search_min, 0},
- {"servo", test_servo, OPT_NOJIGTEST | OPT_NOALLTEST},
- {"sleep", test_sleep, OPT_NOJIGTEST},
- {"smooth_z", test_smooth_z, 0},
- {"tone", test_tone, 0},
- {"uart_loopback", test_uart_loopback, OPT_NOJIGTEST | OPT_NOALLTEST},
- {"uart_send", test_uart_send, OPT_NOJIGTEST | OPT_NOALLTEST},
- {"versioning", test_versioning, 0},
- {NULL, NULL, 0}
+ {"commander", commander_tests_main, 0},
+ {"controllib", controllib_test_main, 0},
+#ifndef __PX4_NUTTX
+ {"mavlink", mavlink_tests_main, 0},
+#endif
+ {"sf0x", sf0x_tests_main, 0},
+ {"uorb", uorb_tests_main, 0},
+ {"hysteresis", test_hysteresis, 0},
+
+ {"mixer", test_mixer, OPT_NOJIGTEST},
+ {"autodeclination", test_autodeclination, 0},
+ {"bezier", test_bezierQuad, 0},
+ {"bson", test_bson, 0},
+ {"conv", test_conv, 0},
+ {"dataman", test_dataman, OPT_NOJIGTEST | OPT_NOALLTEST},
+ {"file2", test_file2, OPT_NOJIGTEST},
+ {"float", test_float, 0},
+ {"hott_telemetry", test_hott_telemetry, OPT_NOJIGTEST | OPT_NOALLTEST},
+ {"hrt", test_hrt, OPT_NOJIGTEST | OPT_NOALLTEST},
+ {"int", test_int, 0},
+ {"jig_voltages", test_jig_voltages, OPT_NOALLTEST},
+ {"mathlib", test_mathlib, 0},
+ {"matrix", test_matrix, 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},
+ {"mount", test_mount, OPT_NOJIGTEST | OPT_NOALLTEST},
+ {"param", test_param, 0},
+ {"parameters", test_parameters, 0},
+ {"perf", test_perf, OPT_NOJIGTEST},
+ {"ppm", test_ppm, OPT_NOJIGTEST | OPT_NOALLTEST},
+ {"ppm_loopback", test_ppm_loopback, OPT_NOALLTEST},
+ {"rc", test_rc, OPT_NOJIGTEST | OPT_NOALLTEST},
+ {"search_min", test_search_min, 0},
+ {"servo", test_servo, OPT_NOJIGTEST | OPT_NOALLTEST},
+ {"sleep", test_sleep, OPT_NOJIGTEST},
+ {"tone", test_tone, 0},
+ {"uart_loopback", test_uart_loopback, OPT_NOJIGTEST | OPT_NOALLTEST},
+ {"uart_send", test_uart_send, OPT_NOJIGTEST | OPT_NOALLTEST},
+ {"versioning", test_versioning, 0},
+ {"ctlmath", test_controlmath, 0},
+ {"smoothz", test_smooth_z, 0},
+ {NULL, NULL, 0}
};
#define NTESTS (sizeof(tests) / sizeof(tests[0]))
-static int
-test_all(int argc, char *argv[])
-{
- return test_runner(OPT_NOALLTEST);
-}
-
static int
test_help(int argc, char *argv[])
{
+ unsigned i;
+
printf("Available tests:\n");
- for (size_t i = 0; tests[i].name; i++) {
+ for (i = 0; tests[i].name; i++) {
printf(" %s\n", tests[i].name);
}
return 0;
}
+static int
+test_all(int argc, char *argv[])
+{
+ return test_runner(OPT_NOALLTEST);
+}
+
static int
test_jig(int argc, char *argv[])
{
@@ -155,24 +159,22 @@ test_jig(int argc, char *argv[])
static int
test_runner(unsigned option)
{
- size_t i = 0;
+ size_t i;
char *args[2] = {"all", NULL};
unsigned int failcount = 0;
unsigned int testcount = 0;
- unsigned passed[NTESTS] = {};
+ unsigned int passed[NTESTS];
printf("\nRunning all tests...\n\n");
for (i = 0; tests[i].name; i++) {
- /* Only run tests that are not excluded */
+ // Only run tests that are not excluded.
if (!(tests[i].options & option)) {
for (int j = 0; j < 80; j++) {
printf("-");
}
- printf("\n");
-
- printf(" [%s] \t\tSTARTING TEST\n", tests[i].name);
+ printf("\n [%s] \t\tSTARTING TEST\n", tests[i].name);
fflush(stdout);
/* Execute test */
@@ -192,22 +194,19 @@ test_runner(unsigned option)
printf("-");
}
- printf("\n\n");
-
testcount++;
+ printf("\n\n");
}
}
- /* Print summary */
+ // Print summary.
printf("\n");
- for (unsigned j = 0; j < 80; j++) {
+ for (size_t j = 0; j < 80; j++) {
printf("#");
}
- printf("\n\n");
-
- printf(" T E S T S U M M A R Y\n\n");
+ printf("\n\n T E S T S U M M A R Y\n\n");
if (failcount == 0) {
printf(" ______ __ __ ______ __ __ \n");
@@ -216,7 +215,7 @@ test_runner(unsigned option)
printf(" \\ \\_\\ \\_\\ \\ \\_____\\ \\ \\_____\\ \\ \\_____\\ \\ \\_\\ \\_\\ \n");
printf(" \\/_/\\/_/ \\/_____/ \\/_____/ \\/_____/ \\/_/\\/_/ \n");
printf("\n");
- printf(" All tests passed (%d of %d)\n", testcount, testcount);
+ printf(" All tests passed (%d of %d)\n\n", testcount, testcount);
} else {
printf(" ______ ______ __ __ \n");
@@ -225,24 +224,21 @@ test_runner(unsigned option)
printf(" \\ \\_\\ \\ \\_\\ \\_\\ \\ \\_\\ \\ \\_____\\ \n");
printf(" \\/_/ \\/_/\\/_/ \\/_/ \\/_____/ \n");
printf("\n");
- printf(" Some tests failed (%d of %d)\n", failcount, testcount);
+ printf(" Some tests failed (%d of %d)\n\n", failcount, testcount);
}
- printf("\n");
-
- /* Print failed tests */
+ // Print failed tests.
if (failcount > 0) {
printf(" Failed tests:\n\n");
}
- for (unsigned k = 0; k < i; k++) {
+ for (size_t k = 0; k < i; k++) {
if (!passed[k] && !(tests[k].options & option)) {
printf(" [%s] to obtain details, please re-run with\n\t nsh> tests %s\n\n", tests[k].name, tests[k].name);
}
}
fflush(stdout);
-
return (failcount > 0);
}
@@ -258,13 +254,33 @@ int tests_main(int argc, char *argv[])
return 1;
}
+ int tone_test_index = -1;
+ char *tone_test = {"tone"};
+ char *tone_fail[2] = {NULL, "2"};
+ char *tone_pass[2] = {NULL, "14"};
+
+ // Identify the tone test index for later use.
+ for (size_t i = 0; tests[i].name; i++) {
+ if (*tone_test == *tests[i].name) {
+ tone_test_index = i;
+ }
+ }
+
for (size_t i = 0; tests[i].name; i++) {
if (!strcmp(tests[i].name, argv[1])) {
if (tests[i].fn(argc - 1, argv + 1) == 0) {
+ if (tone_test_index != -1) {
+ tests[tone_test_index].fn(2, tone_pass); // Play a notification.
+ }
+
printf("%s PASSED\n", tests[i].name);
return 0;
} else {
+ if (tone_test_index != -1) {
+ tests[tone_test_index].fn(2, tone_fail); // Play an error notification.
+ }
+
printf("%s FAILED\n", tests[i].name);
return -1;
}