uORB separate tests

cmake/configs/nuttx_px4fmu-v2_test.cmake

@@ -75,6 +75,7 @@ set(config_module_list
 	modules/controllib_test
 	modules/mavlink/mavlink_tests
 	modules/unit_test
+	modules/uORB/uORB_tests
 	systemcmds/tests
 
 	#

cmake/configs/posix_sitl_test.cmake

@@ -76,6 +76,7 @@ set(config_module_list
 	modules/controllib_test
 	#modules/mavlink/mavlink_tests
 	modules/unit_test
+	modules/uORB/uORB_tests
 	systemcmds/tests
 
 	)

src/modules/uORB/CMakeLists.txt

@@ -49,17 +49,14 @@ set(SRCS
 if(${OS} STREQUAL "nuttx")
 	list(APPEND SRCS
 		uORBDevices_nuttx.cpp
-		uORBTest_UnitTest.cpp
 		)
 elseif(${OS} STREQUAL "posix")
 	list(APPEND SRCS
 		uORBDevices_posix.cpp
-		uORBTest_UnitTest.cpp
 		)
 elseif(${OS} STREQUAL "posix-arm")
 	list(APPEND SRCS
 		uORBDevices_posix.cpp
-		uORBTest_UnitTest.cpp
 		)
 elseif(${OS} STREQUAL "qurt")
 	list(APPEND SRCS

src/modules/uORB/uORBMain.cpp

@@ -37,19 +37,14 @@
 #include "uORB.h"
 #include "uORBCommon.hpp"
 
-#ifndef __PX4_QURT
-#include "uORBTest_UnitTest.hpp"
-#endif
-
 extern "C" { __EXPORT int uorb_main(int argc, char *argv[]); }
 
 static uORB::DeviceMaster *g_dev = nullptr;
 static void usage()
 {
-	PX4_INFO("Usage: uorb 'start', 'test', 'latency_test' or 'status'");
+	PX4_INFO("Usage: uorb 'start', 'status'");
 }
 
-
 int
 uorb_main(int argc, char *argv[])
 {
@@ -94,41 +89,6 @@ uorb_main(int argc, char *argv[])
 		return OK;
 	}
 
-#ifndef __PX4_QURT
-
-	/*
-	 * Test the driver/device.
-	 */
-	if (!strcmp(argv[1], "test")) {
-		if (!g_dev) {
-			PX4_WARN("orb is not running! start it first");
-			return -ESRCH;
-		}
-
-		uORBTest::UnitTest &t = uORBTest::UnitTest::instance();
-		return t.test();
-	}
-
-	/*
-	 * Test the latency.
-	 */
-	if (!strcmp(argv[1], "latency_test")) {
-
-		uORBTest::UnitTest &t = uORBTest::UnitTest::instance();
-
-		if (argc > 2 && !strcmp(argv[2], "medium")) {
-			return t.latency_test<struct orb_test_medium>(ORB_ID(orb_test_medium), true);
-
-		} else if (argc > 2 && !strcmp(argv[2], "large")) {
-			return t.latency_test<struct orb_test_large>(ORB_ID(orb_test_large), true);
-
-		} else {
-			return t.latency_test<struct orb_test>(ORB_ID(orb_test), true);
-		}
-	}
-
-#endif
-
 	/*
 	 * Print driver information.
 	 */

src/modules/uORB/uORB_tests/CMakeLists.txt

@@ -0,0 +1,53 @@
+############################################################################
+#
+#   Copyright (c) 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
+# 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.
+#
+############################################################################
+
+# this includes the generated topics directory
+include_directories(${CMAKE_CURRENT_BINARY_DIR})
+
+set(SRCS uORB_tests_main.cpp)
+
+if(NOT ${OS} STREQUAL "qurt")
+	list(APPEND SRCS uORBTest_UnitTest.cpp)
+endif()
+
+px4_add_module(
+	MODULE modules__uORB__uORB_tests
+	MAIN uorb_tests
+	STACK_MAIN 2048
+	COMPILE_FLAGS
+		-Os
+	SRCS ${SRCS}
+	DEPENDS
+		platforms__common
+	)
+# vim: set noet ft=cmake fenc=utf-8 ff=unix : 

src/modules/uORB/uORB_tests/uORBTest_UnitTest.cpp

@@ -32,7 +32,7 @@
  ****************************************************************************/
 
 #include "uORBTest_UnitTest.hpp"
-#include "uORBCommon.hpp"
+#include "../uORBCommon.hpp"
 #include <px4_config.h>
 #include <px4_time.h>
 #include <stdio.h>

src/modules/uORB/uORB_tests/uORBTest_UnitTest.hpp

@@ -33,8 +33,8 @@
 
 #ifndef _uORBTest_UnitTest_hpp_
 #define _uORBTest_UnitTest_hpp_
-#include "uORBCommon.hpp"
+#include "../uORBCommon.hpp"
-#include "uORB.h"
+#include "../uORB.h"
 #include <px4_time.h>
 
 struct orb_test {

src/modules/uORB/uORB_tests/uORB_tests_main.cpp

@@ -0,0 +1,90 @@
+/****************************************************************************
+ *
+ *   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
+ * 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.
+ *
+ ****************************************************************************/
+
+#include <string.h>
+#include "../uORBDevices.hpp"
+#include "../uORB.h"
+#include "../uORBCommon.hpp"
+
+#ifndef __PX4_QURT
+#include "uORBTest_UnitTest.hpp"
+#endif
+
+extern "C" { __EXPORT int uorb_tests_main(int argc, char *argv[]); }
+
+static void usage()
+{
+	PX4_INFO("Usage: uorb_test 'test', 'latency_test'");
+}
+
+int
+uorb_tests_main(int argc, char *argv[])
+{
+	if (argc < 2) {
+		usage();
+		return -EINVAL;
+	}
+
+#ifndef __PX4_QURT
+
+	/*
+	 * Test the driver/device.
+	 */
+	if (!strcmp(argv[1], "test")) {
+		uORBTest::UnitTest &t = uORBTest::UnitTest::instance();
+		return t.test();
+	}
+
+	/*
+	 * Test the latency.
+	 */
+	if (!strcmp(argv[1], "latency_test")) {
+
+		uORBTest::UnitTest &t = uORBTest::UnitTest::instance();
+
+		if (argc > 2 && !strcmp(argv[2], "medium")) {
+			return t.latency_test<struct orb_test_medium>(ORB_ID(orb_test_medium), true);
+
+		} else if (argc > 2 && !strcmp(argv[2], "large")) {
+			return t.latency_test<struct orb_test_large>(ORB_ID(orb_test_large), true);
+
+		} else {
+			return t.latency_test<struct orb_test>(ORB_ID(orb_test), true);
+		}
+	}
+
+#endif
+
+	usage();
+	return -EINVAL;
+}