Break test_tone and test_ppm out of the test_hrt.cpp file into their own respective files.

src/systemcmds/tests/CMakeLists.txt

@@ -59,6 +59,7 @@ set(srcs
 	test_param.c
 	test_parameters.cpp
 	test_perf.c
+	test_ppm.cpp
 	test_ppm_loopback.c
 	test_rc.c
 	test_search_min.cpp
@@ -66,6 +67,7 @@ set(srcs
 	test_servo.c
 	test_sleep.c
 	test_smooth_z.cpp
+	test_tone.cpp
 	test_uart_baudchange.c
 	test_uart_console.c
 	test_uart_loopback.c

src/systemcmds/tests/test_hrt.cpp

@@ -36,117 +36,12 @@
  * Tests the high resolution timer.
  */
 
-#include <px4_config.h>
+#include <drivers/drv_hrt.h>
 #include <px4_posix.h>
-#include <sys/types.h>
 #include <sys/time.h>
 
-#include <stdio.h>
-#include <stdlib.h>
-#include <unistd.h>
-#include <fcntl.h>
-#include <errno.h>
-#include <time.h>
-#include <unistd.h>
-
-#include <arch/board/board.h>
-#include <drivers/drv_hrt.h>
-#include <drivers/drv_tone_alarm.h>
-
 #include "tests_main.h"
 
-
-extern uint16_t ppm_buffer[];
-extern unsigned ppm_decoded_channels;
-// extern uint16_t ppm_edge_history[];
-// extern uint16_t ppm_pulse_history[];
-
-int test_ppm(int argc, char *argv[])
-{
-#ifdef HRT_PPM_CHANNEL
-	unsigned i;
-
-	printf("channels: %u\n", ppm_decoded_channels);
-
-	for (i = 0; i < ppm_decoded_channels; i++) {
-		printf("  %u\n", ppm_buffer[i]);
-	}
-
-	// printf("edges\n");
-
-	// for (i = 0; i < 32; i++) {
-	// 	printf("  %u\n", ppm_edge_history[i]);
-	// }
-
-	// printf("pulses\n");
-
-	// for (i = 0; i < 32; i++) {
-	// 	printf("  %u\n", ppm_pulse_history[i]);
-	// }
-
-	fflush(stdout);
-#else
-	printf("PPM not configured\n");
-#endif
-	return 0;
-}
-
-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;
-	}
-
-	tone = 1;
-
-	if (argc == 2) {
-		tone = atoi(argv[1]);
-	}
-
-	if (tone  == 0) {
-		result = px4_ioctl(fd, TONE_SET_ALARM, TONE_STOP_TUNE);
-
-		if (result < 0) {
-			printf("failed clearing alarms\n");
-			goto out;
-
-		} else {
-			printf("Alarm stopped.\n");
-		}
-
-	} 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);
-
-		} else {
-			printf("Alarm %lu (disable with: tests tone 0)\n", tone);
-		}
-	}
-
-out:
-
-	if (fd >= 0) {
-		px4_close(fd);
-	}
-
-	return 0;
-}
-
 int test_hrt(int argc, char *argv[])
 {
 	struct hrt_call call;

src/systemcmds/tests/test_ppm.cpp

@@ -0,0 +1,78 @@
+/****************************************************************************
+ *
+ *  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 NuttX 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_ppm.cpp
+ * Test for ppm channel values.
+ */
+
+#include <stdio.h>
+
+#include "tests_main.h"
+
+
+extern uint16_t ppm_buffer[];
+extern unsigned ppm_decoded_channels;
+// extern uint16_t ppm_edge_history[];
+// extern uint16_t ppm_pulse_history[];
+
+
+int test_ppm(int argc, char *argv[])
+{
+#ifdef HRT_PPM_CHANNEL
+	unsigned i;
+
+	printf("channels: %u\n", ppm_decoded_channels);
+
+	for (i = 0; i < ppm_decoded_channels; i++) {
+		printf("  %u\n", ppm_buffer[i]);
+	}
+
+	// printf("edges\n");
+
+	// for (i = 0; i < 32; i++) {
+	// 	printf("  %u\n", ppm_edge_history[i]);
+	// }
+
+	// printf("pulses\n");
+
+	// for (i = 0; i < 32; i++) {
+	// 	printf("  %u\n", ppm_pulse_history[i]);
+	// }
+
+	fflush(stdout);
+#else
+	printf("PPM not configured\n");
+#endif
+	return 0;
+}

src/systemcmds/tests/test_tone.cpp

@@ -0,0 +1,102 @@
+/****************************************************************************
+ *
+ *  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 NuttX 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_tone.cpp
+ * Test for audio tones.
+ */
+
+#include <stdlib.h>
+
+#include <drivers/drv_hrt.h>
+#include <drivers/drv_tone_alarm.h>
+#include <px4_posix.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;
+	}
+
+	tone = 1;
+
+	if (argc == 2) {
+		tone = atoi(argv[1]);
+	}
+
+	if (tone  == 0) {
+		result = px4_ioctl(fd, TONE_SET_ALARM, TONE_STOP_TUNE);
+
+		if (result < 0) {
+			printf("failed clearing alarms\n");
+			goto out;
+
+		} else {
+			printf("Alarm stopped.\n");
+		}
+
+	} 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);
+
+		} else {
+			printf("Alarm %lu (disable with: tests tone 0)\n", tone);
+		}
+	}
+
+out:
+
+	if (fd >= 0) {
+		px4_close(fd);
+	}
+
+	return 0;
+}

src/systemcmds/tests/tests_main.c

@@ -51,105 +51,101 @@
 #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;
+	const char  *name;
-	int	(* fn)(int argc, char *argv[]);
+	int (* fn)(int argc, char *argv[]);
-	unsigned	options;
+	unsigned    options;
-#define OPT_NOHELP	(1<<0)
+#define OPT_NOHELP  (1<<0)
-#define OPT_NOALLTEST	(1<<1)
+#define OPT_NOALLTEST   (1<<1)
-#define OPT_NOJIGTEST	(1<<2)
+#define OPT_NOJIGTEST   (1<<2)
 } tests[] = {
-	{"help",		test_help,	OPT_NOALLTEST | OPT_NOHELP | OPT_NOJIGTEST},
+	{"all",             test_all,                   OPT_NOALLTEST | OPT_NOJIGTEST},
-	{"all",			test_all,	OPT_NOALLTEST | OPT_NOJIGTEST},
+	{"help",            test_help,                  OPT_NOALLTEST | OPT_NOHELP | OPT_NOJIGTEST},
-	{"jig",			test_jig,	OPT_NOJIGTEST | OPT_NOALLTEST},
+	{"jig",             test_jig,                   OPT_NOJIGTEST | OPT_NOALLTEST},
 #ifdef __PX4_NUTTX
-	{"adc",			test_adc,	OPT_NOJIGTEST},
+	{"adc",             test_adc,                   OPT_NOJIGTEST},
-	{"file",		test_file,	OPT_NOJIGTEST | OPT_NOALLTEST},
+	{"file",            test_file,                  OPT_NOJIGTEST | OPT_NOALLTEST},
-	{"led",			test_led,	0},
+	{"led",             test_led,                   0},
-	{"sensors",		test_sensors,	0},
+	{"sensors",         test_sensors,               0},
-	{"time",		test_time,	OPT_NOJIGTEST},
+	{"time",            test_time,                  OPT_NOJIGTEST},
-	{"uart_baudchange",	test_uart_baudchange,	OPT_NOJIGTEST},
+	{"uart_baudchange", test_uart_baudchange,       OPT_NOJIGTEST},
-	{"uart_break",		test_uart_break,	OPT_NOJIGTEST | OPT_NOALLTEST},
+	{"uart_break",      test_uart_break,            OPT_NOJIGTEST | OPT_NOALLTEST},
-	{"uart_console",	test_uart_console,	OPT_NOJIGTEST | OPT_NOALLTEST},
+	{"uart_console",    test_uart_console,          OPT_NOJIGTEST | OPT_NOALLTEST},
 #else
-	{"rc",			rc_tests_main,	0},
+	{"mavlink",         mavlink_tests_main,         0},
+	{"rc",              rc_tests_main,              0},
 #endif /* __PX4_NUTTX */
 
 	/* external tests */
-	{"commander",		commander_tests_main,	0},
+	{"commander",           commander_tests_main,   0},
-	{"controllib",		controllib_test_main,	0},
+	{"controllib",          controllib_test_main,   0},
-#ifndef __PX4_NUTTX
+	{"sf0x",                sf0x_tests_main,        0},
-	{"mavlink",		mavlink_tests_main,	0},
+	{"uorb",                uorb_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},
-	{"autodeclination",	test_autodeclination,	0},
+	{"bezier",              test_bezierQuad,        0},
-	{"bezier",		test_bezierQuad, 0},
+	{"bson",                test_bson,              0},
-	{"bson",		test_bson,	0},
+	{"conv",                test_conv,              0},
-	{"conv",		test_conv, 0},
+	{"ctlmath",             test_controlmath,       0},
-	{"dataman",		test_dataman, OPT_NOJIGTEST | OPT_NOALLTEST},
+	{"dataman",             test_dataman,           OPT_NOJIGTEST | OPT_NOALLTEST},
-	{"file2",		test_file2,	OPT_NOJIGTEST},
+	{"file2",               test_file2,             OPT_NOJIGTEST},
-	{"float",		test_float,	0},
+	{"float",               test_float,             0},
-	{"hott_telemetry",	test_hott_telemetry,	OPT_NOJIGTEST | OPT_NOALLTEST},
+	{"hott_telemetry",      test_hott_telemetry,    OPT_NOJIGTEST | OPT_NOALLTEST},
-	{"hrt",			test_hrt,	OPT_NOJIGTEST | OPT_NOALLTEST},
+	{"hrt",                 test_hrt,               OPT_NOJIGTEST | OPT_NOALLTEST},
-	{"int",			test_int,	0},
+	{"hysteresis",          test_hysteresis,        0},
-	{"jig_voltages",	test_jig_voltages,	OPT_NOALLTEST},
+	{"int",                 test_int,               0},
-	{"mathlib",		test_mathlib,	0},
+	{"jig_voltages",        test_jig_voltages,      OPT_NOALLTEST},
-	{"matrix",		test_matrix,	0},
+	{"mathlib",             test_mathlib,           0},
-	{"microbench_hrt",		test_microbench_hrt,	0},
+	{"matrix",              test_matrix,            0},
-	{"microbench_math",		test_microbench_math,	0},
+	{"microbench_hrt",      test_microbench_hrt,    0},
-	{"microbench_matrix",		test_microbench_matrix,	0},
+	{"microbench_math",     test_microbench_math,   0},
-	{"microbench_uorb",		test_microbench_uorb,	0},
+	{"microbench_matrix",   test_microbench_matrix, 0},
-	{"mount",		test_mount,	OPT_NOJIGTEST | OPT_NOALLTEST},
+	{"microbench_uorb",     test_microbench_uorb,   0},
-	{"param",		test_param,	0},
+	{"mixer",               test_mixer,             OPT_NOJIGTEST},
-	{"parameters",	test_parameters,	0},
+	{"mount",               test_mount,             OPT_NOJIGTEST | OPT_NOALLTEST},
-	{"perf",		test_perf,	OPT_NOJIGTEST},
+	{"param",               test_param,             0},
-	{"ppm",			test_ppm,	OPT_NOJIGTEST | OPT_NOALLTEST},
+	{"parameters",          test_parameters,        0},
-	{"ppm_loopback",	test_ppm_loopback,	OPT_NOALLTEST},
+	{"perf",                test_perf,              OPT_NOJIGTEST},
-	{"rc",			test_rc,	OPT_NOJIGTEST | OPT_NOALLTEST},
+	{"ppm",                 test_ppm,               OPT_NOJIGTEST | OPT_NOALLTEST},
-	{"search_min",	test_search_min, 0},
+	{"ppm_loopback",        test_ppm_loopback,      OPT_NOALLTEST},
-	{"servo",		test_servo,	OPT_NOJIGTEST | OPT_NOALLTEST},
+	{"rc",                  test_rc,                OPT_NOJIGTEST | OPT_NOALLTEST},
-	{"sleep",		test_sleep,	OPT_NOJIGTEST},
+	{"search_min",          test_search_min,        0},
-	{"tone",		test_tone,	0},
+	{"servo",               test_servo,             OPT_NOJIGTEST | OPT_NOALLTEST},
-	{"uart_loopback",	test_uart_loopback,	OPT_NOJIGTEST | OPT_NOALLTEST},
+	{"sleep",               test_sleep,             OPT_NOJIGTEST},
-	{"uart_send",		test_uart_send,	OPT_NOJIGTEST | OPT_NOALLTEST},
+	{"smooth_z",            test_smooth_z,          0},
-	{"versioning",		test_versioning,	0},
+	{"tone",                test_tone,              0},
-	{"ctlmath",		test_controlmath, 0},
+	{"uart_loopback",       test_uart_loopback,     OPT_NOJIGTEST | OPT_NOALLTEST},
-	{"smoothz", 	test_smooth_z, 0},
+	{"uart_send",           test_uart_send,         OPT_NOJIGTEST | OPT_NOALLTEST},
-	{NULL,			NULL, 		0}
+	{"versioning",          test_versioning,        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 (i = 0; tests[i].name; i++) {
+	for (size_t 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[])
 {
@@ -159,11 +155,11 @@ test_jig(int argc, char *argv[])
 static int
 test_runner(unsigned option)
 {
-	unsigned	i;
+	size_t i = 0;
-	char		*args[2] = {"all", NULL};
+	char *args[2] = {"all", NULL};
 	unsigned int failcount = 0;
 	unsigned int testcount = 0;
-	unsigned		passed[NTESTS];
+	unsigned passed[NTESTS] = {};
 
 	printf("\nRunning all tests...\n\n");
 
@@ -262,7 +258,7 @@ int tests_main(int argc, char *argv[])
 		return 1;
 	}
 
-	for (unsigned i = 0; tests[i].name; 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) {
 				printf("%s PASSED\n", tests[i].name);