forked from Archive/PX4-Autopilot
systemcmds/tests: split out microbenchmarks and remove obsolete tests
- reorganize Jenkins HIL tests
This commit is contained in:
parent
0101934f47
commit
774ad80ba0
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@ -46,39 +46,30 @@ pipeline {
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sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cubepilot_cubeorange_test/cubepilot_cubeorange_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
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}
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}
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stage("configure") {
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stage("tests") {
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steps {
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// configure
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sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "CBRK_BUZZER" --value "782097"' // disable buzzer
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sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_RATEMAX" --value "2000"'
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sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "4001"' // generic quadcopter
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sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"' // update bootloader
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
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// run tests
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runTests()
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}
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}
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stage("status") {
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steps {
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statusFTDI()
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener px4io_status"'
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// configure
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resetParameters()
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sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_RATEMAX" --value "2000"'
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sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "13000"' // generic vtol standard
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sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"' // update bootloader
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checkStatus()
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quickCalibrate()
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "dmesg"'
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}
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}
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stage("tests") {
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stage("print topics") {
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steps {
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// run tests
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sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-*`'
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}
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}
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stage("reset") {
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steps {
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cleanupFTDI()
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printTopics()
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}
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}
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}
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} // stage test
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}
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@ -123,37 +114,29 @@ pipeline {
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sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cuav_x7pro_test/cuav_x7pro_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
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}
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}
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stage("configure") {
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stage("tests") {
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steps {
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// configure
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sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "CBRK_BUZZER" --value "782097"' // disable buzzer
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sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_RATEMAX" --value "2000"'
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sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "4001"' // generic quadcopter
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sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"' // update bootloader
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
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runTests()
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}
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}
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stage("status") {
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steps {
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statusFTDI()
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "dmesg"'
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// configure
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resetParameters()
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sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_RATEMAX" --value "2000"'
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sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "13000"' // generic vtol standard
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sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"' // update bootloader
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checkStatus()
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quickCalibrate()
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
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}
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}
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stage("tests") {
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stage("print topics") {
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steps {
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// run tests
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sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-*`'
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}
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}
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stage("reset") {
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steps {
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cleanupFTDI()
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printTopics()
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}
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}
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}
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} // stage test
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}
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@ -198,37 +181,29 @@ pipeline {
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sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v3_test/px4_fmu-v3_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
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}
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}
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stage("configure") {
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stage("tests") {
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steps {
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// configure
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sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "CBRK_BUZZER" --value "782097"' // disable buzzer
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sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "13000"' // generic vtol standard
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sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"' // update bootloader
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
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runTests()
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}
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}
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stage("status") {
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steps {
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statusFTDI()
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// configure
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resetParameters()
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sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "13000"' // generic vtol standard
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sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"' // update bootloader
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checkStatus()
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quickCalibrate()
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener px4io_status"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
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}
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}
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stage("tests") {
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stage("print topics") {
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steps {
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// run tests
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sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-*`'
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}
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}
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stage("reset") {
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steps {
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cleanupFTDI()
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printTopics()
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}
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}
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}
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} // stage test
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}
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@ -273,35 +248,27 @@ pipeline {
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sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4_test/px4_fmu-v4_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
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}
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}
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stage("configure") {
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stage("tests") {
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steps {
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// configure
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sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "CBRK_BUZZER" --value "782097"' // disable buzzer
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sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "4001"' // generic quadcopter
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sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"' // update bootloader
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
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runTests()
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}
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}
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stage("status") {
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steps {
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statusFTDI()
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// configure
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resetParameters()
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sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "4001"' // generic quadcopter
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sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"' // update bootloader
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checkStatus()
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quickCalibrate()
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}
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}
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stage("tests") {
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stage("print topics") {
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steps {
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// run tests
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sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-*`'
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}
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}
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stage("reset") {
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steps {
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cleanupFTDI()
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printTopics()
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}
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}
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}
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} // stage test
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}
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@ -346,113 +313,28 @@ pipeline {
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sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4pro_test/px4_fmu-v4pro_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
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}
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}
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stage("configure") {
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stage("tests") {
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steps {
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runTests()
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}
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}
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stage("status") {
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steps {
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// configure
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sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "CBRK_BUZZER" --value "782097"' // disable buzzer
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resetParameters()
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sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "13000"' // generic vtol standard
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sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"' // update bootloader
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
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}
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}
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stage("status") {
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steps {
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statusFTDI()
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener px4io_status"'
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checkStatus()
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quickCalibrate()
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
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}
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}
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stage("tests") {
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stage("print topics") {
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steps {
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// run tests
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sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-*`'
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printTopics()
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}
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}
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stage("reset") {
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steps {
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cleanupFTDI()
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}
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}
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}
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} // stage test
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}
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}
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stage("px4_fmu-v5_test") {
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stages {
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stage("build px4_fmu-v5_test") {
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agent {
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docker {
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image 'px4io/px4-dev-nuttx-focal:2021-05-04'
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args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
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}
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}
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steps {
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checkout scm
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sh 'export'
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sh 'make distclean'
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sh 'ccache -s'
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sh 'git fetch --tags'
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sh 'make px4_fmu-v5_test'
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sh 'ccache -s'
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stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v5_test'
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}
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post {
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always {
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sh 'make distclean'
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}
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}
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} // stage build
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stage("test") {
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agent {
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label 'px4_fmu-v5'
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}
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stages {
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stage("flash") {
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steps {
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sh 'export'
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sh 'find /dev/serial'
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unstash 'px4_fmu-v5_test'
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// flash board and watch bootup
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sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_test/px4_fmu-v5_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
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}
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}
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stage("configure") {
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steps {
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// configure
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sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "CBRK_BUZZER" --value "782097"' // disable buzzer
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sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "4001"' // generic quadcopter
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sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"' // update bootloader
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
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}
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}
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stage("status") {
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steps {
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statusFTDI()
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener px4io_status"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "dmesg"'
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}
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}
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stage("tests") {
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steps {
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// run tests
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sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-*`'
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}
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}
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stage("reset") {
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steps {
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cleanupFTDI()
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}
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}
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}
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} // stage test
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}
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@ -492,47 +374,42 @@ pipeline {
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steps {
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sh 'export'
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sh 'find /dev/serial'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001" || true' // generic multicopter
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 250" || true'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 0" || true'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 200" || true' // limit cpu usage
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true' // limit cpu usage
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true' // limit cpu usage
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save" || true'
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unstash 'px4_fmu-v5_debug'
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// flash board and watch bootup
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sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_debug/px4_fmu-v5_debug.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
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}
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}
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stage("configure") {
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stage("tests") {
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steps {
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// configure
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "CBRK_BUZZER" --value "782097"' // disable buzzer
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_RATEMAX" --value "250"' // limit cpu usage
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "4001"' // generic quadcopter
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"' // update bootloader
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests latency_test" || true'
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
steps {
|
||||
statusFlashConstrainedFTDI()
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener px4io_status"'
|
||||
// configure
|
||||
resetParameters()
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001" || true' // generic quadcopter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 200" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true' // limit cpu usage
|
||||
checkStatus()
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "dmesg"'
|
||||
}
|
||||
}
|
||||
stage("tests") {
|
||||
stage("print topics") {
|
||||
steps {
|
||||
// run tests
|
||||
sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-*`'
|
||||
}
|
||||
}
|
||||
stage("reset") {
|
||||
steps {
|
||||
cleanupFTDI()
|
||||
printTopics()
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
} // stage test
|
||||
}
|
||||
|
@ -577,38 +454,28 @@ pipeline {
|
|||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_optimized/px4_fmu-v5_optimized.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
}
|
||||
}
|
||||
stage("configure") {
|
||||
stage("tests") {
|
||||
steps {
|
||||
// configure
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "CBRK_BUZZER" --value "782097"' // disable buzzer
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "4001"' // generic quadcopter
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"' // update bootloader
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
|
||||
runTests()
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
steps {
|
||||
statusFTDI()
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener px4io_status"'
|
||||
// configure
|
||||
resetParameters()
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "4001"' // generic quadcopter
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"' // update bootloader
|
||||
checkStatus()
|
||||
quickCalibrate()
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "dmesg"'
|
||||
}
|
||||
}
|
||||
stage("tests") {
|
||||
stage("print topics") {
|
||||
steps {
|
||||
// run tests
|
||||
sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-*`'
|
||||
}
|
||||
}
|
||||
stage("reset") {
|
||||
steps {
|
||||
cleanupFTDI()
|
||||
printTopics()
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
} // stage test
|
||||
}
|
||||
|
@ -648,47 +515,108 @@ pipeline {
|
|||
steps {
|
||||
sh 'export'
|
||||
sh 'find /dev/serial'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001" || true' // generic multicopter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 250" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 0" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 200" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save" || true'
|
||||
unstash 'px4_fmu-v5_stackcheck'
|
||||
// flash board and watch bootup
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_stackcheck.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
}
|
||||
}
|
||||
stage("configure") {
|
||||
stage("tests") {
|
||||
steps {
|
||||
// configure
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "CBRK_BUZZER" --value "782097"' // disable buzzer
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_RATEMAX" --value "250"' // limit cpu usage
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "MAV_0_CONFIG" --value "0"' // limit cpu usage
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "4001"' // generic quadcopter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests latency_test" || true'
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
steps {
|
||||
statusFlashConstrainedFTDI()
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener px4io_status"'
|
||||
// configure
|
||||
resetParameters()
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001" || true' // generic quadcopter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 200" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true' // limit cpu usage
|
||||
checkStatus()
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "dmesg"'
|
||||
}
|
||||
}
|
||||
stage("print topics") {
|
||||
steps {
|
||||
printTopics()
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
} // stage test
|
||||
}
|
||||
}
|
||||
|
||||
stage("px4_fmu-v5_test") {
|
||||
stages {
|
||||
stage("build px4_fmu-v5_test") {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-nuttx-focal:2021-05-04'
|
||||
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
|
||||
}
|
||||
}
|
||||
steps {
|
||||
checkout scm
|
||||
sh 'export'
|
||||
sh 'make distclean'
|
||||
sh 'ccache -s'
|
||||
sh 'git fetch --tags'
|
||||
sh 'make px4_fmu-v5_test'
|
||||
sh 'ccache -s'
|
||||
stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v5_test'
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'make distclean'
|
||||
}
|
||||
}
|
||||
} // stage build
|
||||
stage("test") {
|
||||
agent {
|
||||
label 'px4_fmu-v5'
|
||||
}
|
||||
stages {
|
||||
stage("flash") {
|
||||
steps {
|
||||
sh 'export'
|
||||
sh 'find /dev/serial'
|
||||
unstash 'px4_fmu-v5_test'
|
||||
// flash board and watch bootup
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_test/px4_fmu-v5_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
}
|
||||
}
|
||||
stage("tests") {
|
||||
steps {
|
||||
// run tests
|
||||
sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-*`'
|
||||
runTests()
|
||||
}
|
||||
}
|
||||
stage("reset") {
|
||||
stage("status") {
|
||||
steps {
|
||||
cleanupFTDI()
|
||||
// configure
|
||||
resetParameters()
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "4001"' // generic quadcopter
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"' // update bootloader
|
||||
checkStatus()
|
||||
quickCalibrate()
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
|
||||
}
|
||||
}
|
||||
stage("print topics") {
|
||||
steps {
|
||||
printTopics()
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
} // stage test
|
||||
}
|
||||
|
@ -733,36 +661,27 @@ pipeline {
|
|||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/modalai_fc-v1_test/modalai_fc-v1_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
}
|
||||
}
|
||||
stage("configure") {
|
||||
stage("tests") {
|
||||
steps {
|
||||
// configure
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "CBRK_BUZZER" --value "782097"' // disable buzzer
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "4001"' // generic quadcopter
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"' // update bootloader
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
|
||||
runTests()
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
steps {
|
||||
statusFTDI()
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "dmesg"'
|
||||
// configure
|
||||
resetParameters()
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "4001"' // generic quadcopter
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"' // update bootloader
|
||||
checkStatus()
|
||||
quickCalibrate()
|
||||
}
|
||||
}
|
||||
stage("tests") {
|
||||
stage("print topics") {
|
||||
steps {
|
||||
// run tests
|
||||
sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-*`'
|
||||
}
|
||||
}
|
||||
stage("reset") {
|
||||
steps {
|
||||
cleanupFTDI()
|
||||
printTopics()
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
} // stage test
|
||||
}
|
||||
|
@ -807,35 +726,27 @@ pipeline {
|
|||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/nxp_fmuk66-v3_test/nxp_fmuk66-v3_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
}
|
||||
}
|
||||
stage("configure") {
|
||||
stage("tests") {
|
||||
steps {
|
||||
// configure
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "CBRK_BUZZER" --value "782097"' // disable buzzer
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "4001"' // generic quadcopter
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"' // update bootloader
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
|
||||
runTests()
|
||||
}
|
||||
}
|
||||
stage("status") {
|
||||
steps {
|
||||
statusFTDI()
|
||||
// configure
|
||||
resetParameters()
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "4001"' // generic quadcopter
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"' // update bootloader
|
||||
checkStatus()
|
||||
quickCalibrate()
|
||||
}
|
||||
}
|
||||
stage("tests") {
|
||||
stage("print topics") {
|
||||
steps {
|
||||
// run tests
|
||||
sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-*` || true' // allow failure due to intermittent serial console issues
|
||||
}
|
||||
}
|
||||
stage("reset") {
|
||||
steps {
|
||||
cleanupFTDI()
|
||||
printTopics()
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
} // stage test
|
||||
}
|
||||
|
@ -856,111 +767,41 @@ pipeline {
|
|||
}
|
||||
}
|
||||
|
||||
void statusFTDI() {
|
||||
// run logger
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"'
|
||||
// status commands
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "free"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander check"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander status"'
|
||||
void quickCalibrate() {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate accel quick; sleep 1; param show CAL_ACC*"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate gyro; sleep 1; param show CAL_GYRO*"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate level; sleep 1; param show SENS_BOARD*"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate mag quick; sleep 1; param show CAL_MAG*"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "dataman status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "gps status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "gyro_calibration status; param show CAL_GYRO*" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener adc_report"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener battery_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener cpuload"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_attitude"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_event_flags"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_local_position"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_selector_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_sensor_bias"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_status_flags"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener logger_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener parameter_update"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_accel"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_accel_fifo"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_baro"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_combined"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gps"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gyro"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gyro_fifo"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_mag"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_selection"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensors_status_imu"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener system_power"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener telemetry_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_air_data"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_angular_acceleration"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_angular_velocity"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_attitude"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_gps_position"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_imu"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_imu_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_local_position"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_magnetometer"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_status_flags"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /dev"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /etc"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /obj"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /proc"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/meminfo"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/uptime"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink status streams"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mount"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "perf latency"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "perf"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ps"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "pwm info -d /dev/pwm_output0" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "pwm info -d /dev/pwm_output1" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "pwm_out status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -r 2"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener cpuload; top once; listener cpuload"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uavcan status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb top -1 -a"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ver all"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "gyro_calibration status; param show CAL_GYRO*" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ekf2 status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "free"'
|
||||
// stop logger
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "gyro_calibration status; param show CAL_GYRO*"'
|
||||
}
|
||||
|
||||
void statusFlashConstrainedFTDI() {
|
||||
void checkStatus() {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
|
||||
|
||||
// run logger
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"'
|
||||
// status commands
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "free"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/meminfo"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/uptime"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander check" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "dataman status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "dmesg" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ekf2 status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "free"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "gps status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener cpuload; top once; listener cpuload"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /dev"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /etc"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /obj"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /proc"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/meminfo"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/uptime"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink status streams"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mount"'
|
||||
|
@ -970,7 +811,7 @@ void statusFlashConstrainedFTDI() {
|
|||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "perf latency"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "perf"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ps"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "pwm info -d /dev/pwm_output0" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "pwm info -d /dev/pwm_output0"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "pwm info -d /dev/pwm_output1" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "pwm_out status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -r 2"'
|
||||
|
@ -981,40 +822,132 @@ void statusFlashConstrainedFTDI() {
|
|||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb top -1 -a"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ver all"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "gyro_calibration status; param show CAL_GYRO*" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ekf2 status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "free"'
|
||||
// stop logger
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"'
|
||||
}
|
||||
|
||||
void cleanupFTDI() {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander stop"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink stop-all"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "navigator stop"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "dataman stop"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"'
|
||||
|
||||
// wipe sdcard
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "umount /fs/microsd"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mkfatfs /dev/mmcsd0" || true'
|
||||
|
||||
// drop any uncommited hardfaults
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "hardfault_log rearm" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "hardfault_log reset" || true'
|
||||
|
||||
// erase mtd
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd readtest" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd rwtest" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd erase" || true'
|
||||
|
||||
// disable buzzer and cleanup storage
|
||||
void resetParameters() {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param reset_all"'
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "CBRK_BUZZER" --value "782097"'
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SDLOG_DIRS_MAX" --value "1"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
|
||||
|
||||
// reboot
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'
|
||||
}
|
||||
|
||||
void runTests() {
|
||||
resetParameters()
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander_tests"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "controllib_test"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "lightware_laser_test"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink_tests" || true' // TODO
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests latency_test"'
|
||||
|
||||
sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-*`'
|
||||
|
||||
//sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests file" || true'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd readtest"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd rwtest"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd erase"'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "microbench all"'
|
||||
}
|
||||
|
||||
void printTopics() {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /obj"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb top -1 -a"'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_armed"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_controls_0"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_controls_1"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_controls_2"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_controls_3"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_outputs"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener adc_report"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener airspeed_validated"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener airspeed_wind"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener battery_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener commander_state"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener cpuload"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener distance_sensor"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener ekf2_timestamps"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener ekf_gps_drift"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener esc_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_attitude"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_event_flags"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_global_position"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_innovation_test_ratios"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_innovation_variances"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_innovations"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_local_position"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_odometry"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_optical_flow_vel"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_selector_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_sensor_bias"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_states"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_status_flags"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_wind"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener event"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener input_rc"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener led_control"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener log_message"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener logger_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener manual_control_setpoint"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener mavlink_log"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener mission"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener multirotor_motor_limits"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener optical_flow"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener parameter_update"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener position_controller_landing_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener position_setpoint_triplet"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener radio_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener rate_ctrl_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener safety"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_accel"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_accel_fifo"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_baro"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_combined"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gyro"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gyro_fft"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gyro_fifo"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_mag"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_preflight_mag"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_selection"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensors_status_imu"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener system_power"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener task_stack_info"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener telemetry_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener test_motor"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener trajectory_setpoint"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener tune_control"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_acceleration"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_air_data"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_angular_acceleration"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_angular_velocity"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_attitude"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_attitude_setpoint"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_command"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_command_ack"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_control_mode"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_global_position"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_imu"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_imu_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_land_detected"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_local_position"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_local_position_setpoint"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_magnetometer"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_odometry"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_rates_setpoint"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_status_flags"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vtol_vehicle_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener yaw_estimator_status"'
|
||||
}
|
||||
|
|
|
@ -61,7 +61,7 @@ def do_nsh_cmd(port, baudrate, cmd):
|
|||
|
||||
# run command
|
||||
timeout_start = time.time()
|
||||
timeout = 2 # 2 seconds
|
||||
timeout = 1 # 1 second
|
||||
|
||||
success_cmd = "cmd succeeded!"
|
||||
|
||||
|
@ -84,7 +84,7 @@ def do_nsh_cmd(port, baudrate, cmd):
|
|||
|
||||
|
||||
timeout_start = time.time()
|
||||
timeout = 30 # 30 seconds
|
||||
timeout = 180 # 3 minutes
|
||||
|
||||
while True:
|
||||
serial_line = ser.readline().decode("ascii", errors='ignore')
|
||||
|
|
|
@ -91,7 +91,7 @@ def do_test(port, baudrate, test_name):
|
|||
|
||||
|
||||
# print results, wait for final result (PASSED or FAILED)
|
||||
timeout = 180 # 3 minutes
|
||||
timeout = 300 # 5 minutes
|
||||
timeout_start = time.time()
|
||||
timeout_newline = timeout_start
|
||||
|
||||
|
@ -139,15 +139,30 @@ class TestHardwareMethods(unittest.TestCase):
|
|||
def test_bson(self):
|
||||
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "bson"))
|
||||
|
||||
# def test_dataman(self):
|
||||
# self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "dataman"))
|
||||
def test_conv(self):
|
||||
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "conv"))
|
||||
|
||||
def floattest_float(self):
|
||||
def test_dataman(self):
|
||||
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "dataman"))
|
||||
|
||||
# def test_file(self):
|
||||
# self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "file"))
|
||||
|
||||
def test_file2(self):
|
||||
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "file2"))
|
||||
|
||||
def test_float(self):
|
||||
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "float"))
|
||||
|
||||
def test_hrt(self):
|
||||
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "hrt"))
|
||||
|
||||
def test_int(self):
|
||||
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "int"))
|
||||
|
||||
def test_i2c_spi_cli(self):
|
||||
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "i2c_spi_cli"))
|
||||
|
||||
def test_IntrusiveQueue(self):
|
||||
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "IntrusiveQueue"))
|
||||
|
||||
|
@ -163,21 +178,6 @@ class TestHardwareMethods(unittest.TestCase):
|
|||
def test_matrix(self):
|
||||
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "matrix"))
|
||||
|
||||
def test_microbench_atomic(self):
|
||||
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "microbench_atomic"))
|
||||
|
||||
def test_microbench_hrt(self):
|
||||
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "microbench_hrt"))
|
||||
|
||||
def test_microbench_math(self):
|
||||
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "microbench_math"))
|
||||
|
||||
def test_microbench_matrix(self):
|
||||
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "microbench_matrix"))
|
||||
|
||||
def test_microbench_uorb(self):
|
||||
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "microbench_uorb"))
|
||||
|
||||
# def test_mixer(self):
|
||||
# self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "mixer"))
|
||||
|
||||
|
|
|
@ -102,6 +102,7 @@ px4_add_board(
|
|||
i2cdetect
|
||||
led_control
|
||||
mft
|
||||
microbench
|
||||
mixer
|
||||
motor_ramp
|
||||
motor_test
|
||||
|
|
|
@ -103,6 +103,7 @@ px4_add_board(
|
|||
i2cdetect
|
||||
led_control
|
||||
mft
|
||||
microbench
|
||||
mixer
|
||||
motor_ramp
|
||||
motor_test
|
||||
|
|
|
@ -100,6 +100,7 @@ px4_add_board(
|
|||
i2cdetect
|
||||
led_control
|
||||
mft
|
||||
microbench
|
||||
mixer
|
||||
motor_ramp
|
||||
motor_test
|
||||
|
|
|
@ -98,6 +98,7 @@ px4_add_board(
|
|||
i2cdetect
|
||||
led_control
|
||||
mft
|
||||
microbench
|
||||
mixer
|
||||
motor_ramp
|
||||
motor_test
|
||||
|
|
|
@ -98,6 +98,7 @@ px4_add_board(
|
|||
i2cdetect
|
||||
led_control
|
||||
mft
|
||||
microbench
|
||||
mixer
|
||||
motor_ramp
|
||||
motor_test
|
||||
|
|
|
@ -102,6 +102,7 @@ px4_add_board(
|
|||
i2cdetect
|
||||
led_control
|
||||
mft
|
||||
microbench
|
||||
mixer
|
||||
motor_ramp
|
||||
motor_test
|
||||
|
|
|
@ -95,6 +95,7 @@ px4_add_board(
|
|||
i2cdetect
|
||||
led_control
|
||||
mft
|
||||
microbench
|
||||
mixer
|
||||
motor_ramp
|
||||
motor_test
|
||||
|
|
|
@ -100,6 +100,7 @@ px4_add_board(
|
|||
i2cdetect
|
||||
led_control
|
||||
mft
|
||||
microbench
|
||||
mixer
|
||||
motor_ramp
|
||||
motor_test
|
||||
|
|
|
@ -94,6 +94,7 @@ px4_add_board(
|
|||
i2cdetect
|
||||
led_control
|
||||
mft
|
||||
microbench
|
||||
mixer
|
||||
motor_ramp
|
||||
motor_test
|
||||
|
|
|
@ -97,6 +97,7 @@ px4_add_board(
|
|||
#i2cdetect
|
||||
#led_control
|
||||
mft
|
||||
microbench
|
||||
mixer
|
||||
#motor_ramp
|
||||
#motor_test
|
||||
|
|
|
@ -101,6 +101,7 @@ px4_add_board(
|
|||
i2cdetect
|
||||
led_control
|
||||
mft
|
||||
microbench
|
||||
mixer
|
||||
motor_ramp
|
||||
motor_test
|
||||
|
|
|
@ -100,6 +100,7 @@ px4_add_board(
|
|||
i2cdetect
|
||||
led_control
|
||||
mft
|
||||
microbench
|
||||
mixer
|
||||
motor_ramp
|
||||
motor_test
|
||||
|
|
|
@ -100,6 +100,7 @@ px4_add_board(
|
|||
i2cdetect
|
||||
led_control
|
||||
mft
|
||||
microbench
|
||||
mixer
|
||||
motor_ramp
|
||||
motor_test
|
||||
|
|
|
@ -69,7 +69,7 @@ px4_add_board(
|
|||
flight_mode_manager
|
||||
fw_att_control
|
||||
fw_pos_control_l1
|
||||
gyro_calibration
|
||||
#gyro_calibration
|
||||
#gyro_fft
|
||||
land_detector
|
||||
#landing_target_estimator
|
||||
|
|
|
@ -107,6 +107,7 @@ px4_add_board(
|
|||
i2cdetect
|
||||
led_control
|
||||
mft
|
||||
microbench
|
||||
mixer
|
||||
#motor_ramp
|
||||
motor_test
|
||||
|
|
|
@ -71,8 +71,8 @@ px4_add_board(
|
|||
flight_mode_manager
|
||||
fw_att_control
|
||||
fw_pos_control_l1
|
||||
gyro_calibration
|
||||
gyro_fft
|
||||
#gyro_calibration
|
||||
#gyro_fft
|
||||
land_detector
|
||||
#landing_target_estimator
|
||||
load_mon
|
||||
|
|
|
@ -101,6 +101,7 @@ px4_add_board(
|
|||
i2cdetect
|
||||
led_control
|
||||
mft
|
||||
microbench
|
||||
mixer
|
||||
motor_ramp
|
||||
motor_test
|
||||
|
|
|
@ -103,6 +103,7 @@ px4_add_board(
|
|||
i2cdetect
|
||||
led_control
|
||||
mft
|
||||
microbench
|
||||
mixer
|
||||
motor_ramp
|
||||
motor_test
|
||||
|
|
|
@ -99,6 +99,7 @@ px4_add_board(
|
|||
i2cdetect
|
||||
led_control
|
||||
mft
|
||||
microbench
|
||||
mixer
|
||||
motor_ramp
|
||||
motor_test
|
||||
|
|
|
@ -73,7 +73,7 @@ px4_add_board(
|
|||
land_detector
|
||||
landing_target_estimator
|
||||
load_mon
|
||||
local_position_estimator
|
||||
#local_position_estimator
|
||||
logger
|
||||
mavlink
|
||||
mc_att_control
|
||||
|
@ -100,6 +100,7 @@ px4_add_board(
|
|||
i2cdetect
|
||||
led_control
|
||||
mft
|
||||
microbench
|
||||
mixer
|
||||
motor_test
|
||||
mtd
|
||||
|
|
|
@ -19,17 +19,11 @@ set(tests
|
|||
List
|
||||
mathlib
|
||||
matrix
|
||||
microbench_atomic
|
||||
microbench_hrt
|
||||
microbench_math
|
||||
microbench_matrix
|
||||
microbench_uorb
|
||||
mixer
|
||||
param
|
||||
parameters
|
||||
perf
|
||||
search_min
|
||||
servo
|
||||
sleep
|
||||
versioning
|
||||
)
|
||||
|
|
|
@ -36,7 +36,7 @@ include_directories(${PX4_SOURCE_DIR}/mavlink/include/mavlink)
|
|||
px4_add_module(
|
||||
MODULE modules__mavlink__mavlink_tests
|
||||
MAIN mavlink_tests
|
||||
STACK_MAIN 5000
|
||||
STACK_MAIN 8192
|
||||
COMPILE_FLAGS
|
||||
-DMAVLINK_FTP_UNIT_TEST
|
||||
#-DMAVLINK_FTP_DEBUG
|
||||
|
|
|
@ -0,0 +1,53 @@
|
|||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2015-2021 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.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
px4_add_module(
|
||||
MODULE systemcmds__microbench
|
||||
MAIN microbench
|
||||
STACK_MAIN 4096
|
||||
COMPILE_FLAGS
|
||||
-Wno-double-promotion
|
||||
-Wno-unused-but-set-variable
|
||||
-Wno-unused-variable
|
||||
-Wno-write-strings
|
||||
SRCS
|
||||
microbench_main.cpp
|
||||
|
||||
test_microbench_atomic.cpp
|
||||
test_microbench_hrt.cpp
|
||||
test_microbench_math.cpp
|
||||
test_microbench_matrix.cpp
|
||||
test_microbench_uorb.cpp
|
||||
|
||||
DEPENDS
|
||||
)
|
|
@ -0,0 +1,167 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2015-2021 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 <px4_platform_common/px4_config.h>
|
||||
#include <px4_platform_common/log.h>
|
||||
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
#include <fcntl.h>
|
||||
#include <errno.h>
|
||||
|
||||
__BEGIN_DECLS
|
||||
|
||||
extern int test_microbench_atomic(int argc, char *argv[]);
|
||||
extern int test_microbench_hrt(int argc, char *argv[]);
|
||||
extern int test_microbench_math(int argc, char *argv[]);
|
||||
extern int test_microbench_matrix(int argc, char *argv[]);
|
||||
extern int test_microbench_uorb(int argc, char *argv[]);
|
||||
|
||||
__END_DECLS
|
||||
|
||||
static int microbench_help(int argc, char *argv[]);
|
||||
static int microbench_all(int argc, char *argv[]);
|
||||
static int microbench_runner(unsigned option);
|
||||
|
||||
const struct {
|
||||
const char *name;
|
||||
int (* fn)(int argc, char *argv[]);
|
||||
unsigned options;
|
||||
#define OPT_NOHELP (1<<0)
|
||||
#define OPT_NOALLTEST (1<<1)
|
||||
} microbenchmarks[] = {
|
||||
{"help", microbench_help, OPT_NOALLTEST | OPT_NOHELP},
|
||||
{"all", microbench_all, OPT_NOALLTEST},
|
||||
|
||||
{"microbench_atomic", test_microbench_atomic, 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},
|
||||
|
||||
{NULL, NULL, 0}
|
||||
};
|
||||
|
||||
#define NMICROBENCHMARKS (sizeof(microbenchmarks) / sizeof(microbenchmarks[0]))
|
||||
|
||||
static int microbench_help(int argc, char *argv[])
|
||||
{
|
||||
printf("Available tests:\n");
|
||||
|
||||
for (int i = 0; microbenchmarks[i].name; i++) {
|
||||
printf(" %s\n", microbenchmarks[i].name);
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
static int microbench_all(int argc, char *argv[])
|
||||
{
|
||||
return microbench_runner(OPT_NOALLTEST);
|
||||
}
|
||||
|
||||
static int microbench_runner(unsigned option)
|
||||
{
|
||||
size_t i;
|
||||
char *args[2] = {"all", NULL};
|
||||
unsigned int failcount = 0;
|
||||
unsigned int testcount = 0;
|
||||
unsigned int passed[NMICROBENCHMARKS];
|
||||
|
||||
printf("\nRunning all microbenchmarks...\n\n");
|
||||
|
||||
for (i = 0; microbenchmarks[i].name; i++) {
|
||||
// Only run tests that are not excluded.
|
||||
if (!(microbenchmarks[i].options & option)) {
|
||||
for (int j = 0; j < 80; j++) {
|
||||
printf("-");
|
||||
}
|
||||
|
||||
printf("\n [%s] \t\tSTARTING TEST\n", microbenchmarks[i].name);
|
||||
fflush(stdout);
|
||||
|
||||
/* Execute test */
|
||||
if (microbenchmarks[i].fn(1, args) != 0) {
|
||||
fprintf(stderr, " [%s] \t\tFAIL\n", microbenchmarks[i].name);
|
||||
fflush(stderr);
|
||||
failcount++;
|
||||
passed[i] = 0;
|
||||
|
||||
} else {
|
||||
printf(" [%s] \t\tPASS\n", microbenchmarks[i].name);
|
||||
fflush(stdout);
|
||||
passed[i] = 1;
|
||||
}
|
||||
|
||||
for (int j = 0; j < 80; j++) {
|
||||
printf("-");
|
||||
}
|
||||
|
||||
testcount++;
|
||||
printf("\n\n");
|
||||
}
|
||||
}
|
||||
|
||||
for (size_t k = 0; k < i; k++) {
|
||||
if (!passed[k] && !(microbenchmarks[k].options & option)) {
|
||||
printf(" [%s] to obtain details, please re-run with\n\t nsh> microbench %s\n\n", microbenchmarks[k].name,
|
||||
microbenchmarks[k].name);
|
||||
}
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
extern "C" __EXPORT int microbench_main(int argc, char *argv[])
|
||||
{
|
||||
if (argc < 2) {
|
||||
PX4_WARN("missing test name - 'microbench help' for a list of tests");
|
||||
return 1;
|
||||
}
|
||||
|
||||
for (size_t i = 0; microbenchmarks[i].name; i++) {
|
||||
if (!strcmp(microbenchmarks[i].name, argv[1])) {
|
||||
if (microbenchmarks[i].fn(argc - 1, argv + 1) == 0) {
|
||||
PX4_INFO("%s PASSED", microbenchmarks[i].name);
|
||||
return 0;
|
||||
|
||||
} else {
|
||||
PX4_ERR("%s FAILED", microbenchmarks[i].name);
|
||||
return -1;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
PX4_WARN("no test called '%s' - 'microbench help' for a list of tests", argv[1]);
|
||||
return 1;
|
||||
}
|
|
@ -1,6 +1,6 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2020 PX4 Development Team. All rights reserved.
|
||||
* Copyright (C) 2020-2021 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
|
|
@ -1,6 +1,6 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2018-2019 PX4 Development Team. All rights reserved.
|
||||
* Copyright (C) 2018-2021 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
|
|
@ -1,6 +1,6 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2018-2019 PX4 Development Team. All rights reserved.
|
||||
* Copyright (C) 2018-2021 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
|
|
@ -1,6 +1,6 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2018-2019 PX4 Development Team. All rights reserved.
|
||||
* Copyright (C) 2018-2021 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
|
|
@ -1,6 +1,6 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2018-2019 PX4 Development Team. All rights reserved.
|
||||
* Copyright (C) 2018-2021 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
|
||||
|
@ -153,7 +153,6 @@ bool MicroBenchORB::time_px4_uorb()
|
|||
|
||||
int ret = 0;
|
||||
bool updated = false;
|
||||
uint64_t time = 0;
|
||||
|
||||
PERF("orb_check vehicle_status", ret = orb_check(fd_status, &updated), 100);
|
||||
PERF("orb_copy vehicle_status", ret = orb_copy(ORB_ID(vehicle_status), fd_status, &status), 100);
|
||||
|
@ -198,8 +197,6 @@ bool MicroBenchORB::time_px4_uorb()
|
|||
bool MicroBenchORB::time_px4_uorb_direct()
|
||||
{
|
||||
bool ret = false;
|
||||
bool updated = false;
|
||||
uint64_t time = 0;
|
||||
|
||||
uORB::Subscription vstatus{ORB_ID(vehicle_status)};
|
||||
PERF("uORB::Subscription orb_check vehicle_status", ret = vstatus.updated(), 100);
|
|
@ -32,7 +32,6 @@
|
|||
############################################################################
|
||||
|
||||
set(srcs
|
||||
test_adc.cpp
|
||||
test_atomic_bitset.cpp
|
||||
test_bezierQuad.cpp
|
||||
test_bitset.cpp
|
||||
|
@ -47,17 +46,11 @@ set(srcs
|
|||
test_int.cpp
|
||||
test_i2c_spi_cli.cpp
|
||||
test_IntrusiveQueue.cpp
|
||||
test_jig_voltages.cpp
|
||||
test_led.c
|
||||
test_List.cpp
|
||||
test_IntrusiveSortedList.cpp
|
||||
test_mathlib.cpp
|
||||
test_matrix.cpp
|
||||
test_microbench_atomic.cpp
|
||||
test_microbench_hrt.cpp
|
||||
test_microbench_math.cpp
|
||||
test_microbench_matrix.cpp
|
||||
test_microbench_uorb.cpp
|
||||
test_mixer.cpp
|
||||
test_param.c
|
||||
test_parameters.cpp
|
||||
|
@ -66,7 +59,6 @@ set(srcs
|
|||
test_ppm_loopback.c
|
||||
test_rc.c
|
||||
test_search_min.cpp
|
||||
test_servo.c
|
||||
test_sleep.c
|
||||
test_uart_baudchange.c
|
||||
test_uart_console.c
|
||||
|
|
|
@ -1,72 +0,0 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2012 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_adc.c
|
||||
* Test for the analog to digital converter.
|
||||
*/
|
||||
|
||||
#include <px4_platform_common/time.h>
|
||||
#include <px4_platform_common/log.h>
|
||||
#include "tests_main.h"
|
||||
#include <drivers/drv_adc.h>
|
||||
|
||||
#include <uORB/Subscription.hpp>
|
||||
#include <uORB/topics/adc_report.h>
|
||||
|
||||
int test_adc(int argc, char *argv[])
|
||||
{
|
||||
uORB::Subscription _adc_sub{ORB_ID(adc_report)};
|
||||
adc_report_s adc;
|
||||
|
||||
px4_usleep(50000); // sleep 50ms and wait for adc report
|
||||
|
||||
if (_adc_sub.update(&adc)) {
|
||||
PX4_INFO_RAW("DeviceID: %" PRIu32 "\n", adc.device_id);
|
||||
PX4_INFO_RAW("Resolution: %" PRIu32 "\n", adc.resolution);
|
||||
PX4_INFO_RAW("Voltage Reference: %f\n", adc.v_ref);
|
||||
|
||||
for (int i = 0; i < PX4_MAX_ADC_CHANNELS; ++i) {
|
||||
PX4_INFO_RAW("%" PRIu16 ": %" PRIi32 " ", adc.channel_id[i], adc.raw_data[i]);
|
||||
}
|
||||
|
||||
PX4_INFO_RAW("\n");
|
||||
|
||||
PX4_INFO_RAW("\t ADC test successful.\n");
|
||||
|
||||
return OK;
|
||||
|
||||
} else {
|
||||
return 1;
|
||||
}
|
||||
}
|
|
@ -75,7 +75,7 @@ int check_user_abort(int fd)
|
|||
case 0x1b: // esc
|
||||
case 'c':
|
||||
case 'q': {
|
||||
warnx("Test aborted.");
|
||||
printf("Test aborted.\n");
|
||||
fsync(fd);
|
||||
close(fd);
|
||||
return OK;
|
||||
|
@ -90,14 +90,14 @@ int check_user_abort(int fd)
|
|||
int
|
||||
test_file(int argc, char *argv[])
|
||||
{
|
||||
const unsigned iterations = 100;
|
||||
const unsigned alignments = 65;
|
||||
const unsigned iterations = 2;
|
||||
const unsigned alignments = 33;
|
||||
|
||||
/* check if microSD card is mounted */
|
||||
struct stat buffer;
|
||||
|
||||
if (stat(PX4_STORAGEDIR "/", &buffer)) {
|
||||
warnx("no microSD card mounted, aborting file test");
|
||||
printf("no microSD card mounted, aborting file test\n");
|
||||
return 1;
|
||||
}
|
||||
|
||||
|
@ -111,7 +111,7 @@ test_file(int argc, char *argv[])
|
|||
for (unsigned a = 0; a < alignments; a++) {
|
||||
|
||||
printf("\n");
|
||||
warnx("----- alignment test: %u bytes -----", a);
|
||||
printf("----- alignment test: %u bytes -----\n", a);
|
||||
|
||||
uint8_t write_buf[chunk_sizes[c] + alignments] __attribute__((aligned(64)));
|
||||
|
||||
|
@ -124,9 +124,9 @@ test_file(int argc, char *argv[])
|
|||
uint8_t read_buf[chunk_sizes[c] + alignments] __attribute__((aligned(64)));
|
||||
hrt_abstime start, end;
|
||||
|
||||
int fd = px4_open(PX4_STORAGEDIR "/testfile", O_TRUNC | O_WRONLY | O_CREAT);
|
||||
int fd = open(PX4_STORAGEDIR "/testfile", O_TRUNC | O_WRONLY | O_CREAT, 0600);
|
||||
|
||||
warnx("testing unaligned writes - please wait..");
|
||||
printf("testing unaligned writes - please wait..\n");
|
||||
|
||||
start = hrt_absolute_time();
|
||||
|
||||
|
@ -134,10 +134,10 @@ test_file(int argc, char *argv[])
|
|||
int wret = write(fd, write_buf + a, chunk_sizes[c]);
|
||||
|
||||
if (wret != chunk_sizes[c]) {
|
||||
warn("WRITE ERROR!");
|
||||
PX4_ERR("WRITE ERROR!");
|
||||
|
||||
if ((0x3 & (uintptr_t)(write_buf + a))) {
|
||||
warnx("memory is unaligned, align shift: %d", a);
|
||||
printf("memory is unaligned, align shift: %d\n", a);
|
||||
}
|
||||
|
||||
return 1;
|
||||
|
@ -153,9 +153,9 @@ test_file(int argc, char *argv[])
|
|||
|
||||
end = hrt_absolute_time();
|
||||
|
||||
warnx("write took %" PRIu64 " us", (end - start));
|
||||
printf("write took %" PRIu64 " us\n", (end - start));
|
||||
|
||||
px4_close(fd);
|
||||
close(fd);
|
||||
fd = open(PX4_STORAGEDIR "/testfile", O_RDONLY);
|
||||
|
||||
/* read back data for validation */
|
||||
|
@ -163,7 +163,7 @@ test_file(int argc, char *argv[])
|
|||
int rret = read(fd, read_buf, chunk_sizes[c]);
|
||||
|
||||
if (rret != chunk_sizes[c]) {
|
||||
warnx("READ ERROR!");
|
||||
PX4_ERR("READ ERROR!");
|
||||
return 1;
|
||||
}
|
||||
|
||||
|
@ -172,14 +172,14 @@ test_file(int argc, char *argv[])
|
|||
|
||||
for (int j = 0; j < chunk_sizes[c]; j++) {
|
||||
if (read_buf[j] != write_buf[j + a]) {
|
||||
warnx("COMPARISON ERROR: byte %d, align shift: %d", j, a);
|
||||
PX4_ERR("COMPARISON ERROR: byte %d, align shift: %d", j, a);
|
||||
compare_ok = false;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
if (!compare_ok) {
|
||||
warnx("ABORTING FURTHER COMPARISON DUE TO ERROR");
|
||||
PX4_ERR("ABORTING FURTHER COMPARISON DUE TO ERROR");
|
||||
return 1;
|
||||
}
|
||||
|
||||
|
@ -195,15 +195,15 @@ test_file(int argc, char *argv[])
|
|||
|
||||
close(fd);
|
||||
int ret = unlink(PX4_STORAGEDIR "/testfile");
|
||||
fd = px4_open(PX4_STORAGEDIR "/testfile", O_TRUNC | O_WRONLY | O_CREAT);
|
||||
fd = open(PX4_STORAGEDIR "/testfile", O_TRUNC | O_WRONLY | O_CREAT, 0600);
|
||||
|
||||
warnx("testing aligned writes - please wait.. (CTRL^C to abort)");
|
||||
printf("testing aligned writes - please wait.. (CTRL^C to abort)\n");
|
||||
|
||||
for (unsigned i = 0; i < iterations; i++) {
|
||||
int wret = write(fd, write_buf, chunk_sizes[c]);
|
||||
|
||||
if (wret != chunk_sizes[c]) {
|
||||
warnx("WRITE ERROR!");
|
||||
PX4_ERR("WRITE ERROR!");
|
||||
return 1;
|
||||
}
|
||||
|
||||
|
@ -215,9 +215,9 @@ test_file(int argc, char *argv[])
|
|||
|
||||
fsync(fd);
|
||||
|
||||
warnx("reading data aligned..");
|
||||
printf("reading data aligned..\n");
|
||||
|
||||
px4_close(fd);
|
||||
close(fd);
|
||||
fd = open(PX4_STORAGEDIR "/testfile", O_RDONLY);
|
||||
|
||||
bool align_read_ok = true;
|
||||
|
@ -227,13 +227,13 @@ test_file(int argc, char *argv[])
|
|||
int rret = read(fd, read_buf, chunk_sizes[c]);
|
||||
|
||||
if (rret != chunk_sizes[c]) {
|
||||
warnx("READ ERROR!");
|
||||
PX4_ERR("READ ERROR!");
|
||||
return 1;
|
||||
}
|
||||
|
||||
for (int j = 0; j < chunk_sizes[c]; j++) {
|
||||
if (read_buf[j] != write_buf[j]) {
|
||||
warnx("COMPARISON ERROR: byte %d: %u != %u", j, (unsigned int)read_buf[j], (unsigned int)write_buf[j]);
|
||||
PX4_ERR("COMPARISON ERROR: byte %d: %u != %u", j, (unsigned int)read_buf[j], (unsigned int)write_buf[j]);
|
||||
align_read_ok = false;
|
||||
break;
|
||||
}
|
||||
|
@ -244,15 +244,15 @@ test_file(int argc, char *argv[])
|
|||
}
|
||||
|
||||
if (!align_read_ok) {
|
||||
warnx("ABORTING FURTHER COMPARISON DUE TO ERROR");
|
||||
PX4_ERR("ABORTING FURTHER COMPARISON DUE TO ERROR");
|
||||
return 1;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
warnx("align read result: %s\n", (align_read_ok) ? "OK" : "ERROR");
|
||||
printf("align read result: %s\n", (align_read_ok) ? "OK" : "ERROR");
|
||||
|
||||
warnx("reading data unaligned..");
|
||||
printf("reading data unaligned..\n");
|
||||
|
||||
close(fd);
|
||||
fd = open(PX4_STORAGEDIR "/testfile", O_RDONLY);
|
||||
|
@ -267,15 +267,15 @@ test_file(int argc, char *argv[])
|
|||
int rret = read(fd, read_buf + a, chunk_sizes[c]);
|
||||
|
||||
if (rret != chunk_sizes[c]) {
|
||||
warnx("READ ERROR!");
|
||||
PX4_ERR("READ ERROR!");
|
||||
return 1;
|
||||
}
|
||||
|
||||
for (int j = 0; j < chunk_sizes[c]; j++) {
|
||||
|
||||
if ((read_buf + a)[j] != write_buf[j]) {
|
||||
warnx("COMPARISON ERROR: byte %d, align shift: %d: %u != %u", j, a, (unsigned int)read_buf[j + a],
|
||||
(unsigned int)write_buf[j]);
|
||||
PX4_ERR("COMPARISON ERROR: byte %d, align shift: %d: %u != %u", j, a, (unsigned int)read_buf[j + a],
|
||||
(unsigned int)write_buf[j]);
|
||||
unalign_read_ok = false;
|
||||
unalign_read_err_count++;
|
||||
|
||||
|
@ -290,7 +290,7 @@ test_file(int argc, char *argv[])
|
|||
}
|
||||
|
||||
if (!unalign_read_ok) {
|
||||
warnx("ABORTING FURTHER COMPARISON DUE TO ERROR");
|
||||
PX4_ERR("ABORTING FURTHER COMPARISON DUE TO ERROR");
|
||||
return 1;
|
||||
}
|
||||
|
||||
|
@ -300,7 +300,7 @@ test_file(int argc, char *argv[])
|
|||
close(fd);
|
||||
|
||||
if (ret) {
|
||||
warnx("UNLINKING FILE FAILED");
|
||||
PX4_ERR("UNLINKING FILE FAILED");
|
||||
return 1;
|
||||
}
|
||||
}
|
||||
|
@ -314,16 +314,16 @@ test_file(int argc, char *argv[])
|
|||
if (d) {
|
||||
|
||||
while ((dir = readdir(d)) != NULL) {
|
||||
//printf("%s\n", dir->d_name);
|
||||
printf("%s\n", dir->d_name);
|
||||
}
|
||||
|
||||
closedir(d);
|
||||
|
||||
warnx("directory listing ok (FS mounted and readable)");
|
||||
printf("directory listing ok (FS mounted and readable)\n");
|
||||
|
||||
} else {
|
||||
/* failed opening dir */
|
||||
warnx("FAILED LISTING MICROSD ROOT DIRECTORY");
|
||||
PX4_ERR("FAILED LISTING MICROSD ROOT DIRECTORY");
|
||||
return 1;
|
||||
}
|
||||
|
||||
|
|
|
@ -1,120 +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_jig_voltages.c
|
||||
* Tests for jig voltages.
|
||||
*/
|
||||
|
||||
#include <px4_platform_common/defines.h>
|
||||
#include <unistd.h>
|
||||
#include "tests_main.h"
|
||||
#include <drivers/drv_adc.h>
|
||||
|
||||
#include <uORB/Subscription.hpp>
|
||||
#include <uORB/topics/adc_report.h>
|
||||
|
||||
int test_jig_voltages(int argc, char *argv[])
|
||||
{
|
||||
uORB::Subscription _adc_sub{ORB_ID(adc_report)};
|
||||
adc_report_s adc;
|
||||
|
||||
px4_usleep(50000); // sleep 50ms and wait for adc report
|
||||
|
||||
if (_adc_sub.update(&adc)) {
|
||||
PX4_INFO_RAW("DeviceID: %" PRIu32 "\n", adc.device_id);
|
||||
PX4_INFO_RAW("Resolution: %" PRIu32 "\n", adc.resolution);
|
||||
PX4_INFO_RAW("Voltage Reference: %f\n", adc.v_ref);
|
||||
|
||||
unsigned channels = 0;
|
||||
|
||||
for (int i = 0; i < PX4_MAX_ADC_CHANNELS; ++i) {
|
||||
PX4_INFO_RAW("%" PRIu16 ": %" PRIi32 " ", adc.channel_id[i], adc.raw_data[i]);
|
||||
|
||||
if (adc.channel_id[i] != -1) {
|
||||
++channels;
|
||||
}
|
||||
}
|
||||
|
||||
PX4_INFO_RAW("\n");
|
||||
|
||||
PX4_INFO("\t ADC operational.\n");
|
||||
|
||||
/* Expected values */
|
||||
int16_t expected_min[] = {2800, 2800, 1800, 800};
|
||||
int16_t expected_max[] = {3100, 3100, 2100, 1100};
|
||||
const char *check_res[channels];
|
||||
|
||||
if (channels < 4) {
|
||||
PX4_ERR("not all four test channels available, aborting.");
|
||||
return 1;
|
||||
|
||||
} else {
|
||||
int ret = OK;
|
||||
|
||||
/* Check values */
|
||||
check_res[0] = (expected_min[0] < adc.raw_data[0] && expected_max[0] > adc.raw_data[0]) ? "OK" : "FAIL";
|
||||
check_res[1] = (expected_min[1] < adc.raw_data[1] && expected_max[1] > adc.raw_data[1]) ? "OK" : "FAIL";
|
||||
check_res[2] = (expected_min[2] < adc.raw_data[2] && expected_max[2] > adc.raw_data[2]) ? "OK" : "FAIL";
|
||||
check_res[3] = (expected_min[3] < adc.raw_data[3] && expected_max[3] > adc.raw_data[3]) ? "OK" : "FAIL";
|
||||
|
||||
/* Accumulate result */
|
||||
ret += (expected_min[0] > adc.raw_data[0] || expected_max[0] < adc.raw_data[0]) ? 1 : 0;
|
||||
ret += (expected_min[1] > adc.raw_data[1] || expected_max[1] < adc.raw_data[1]) ? 1 : 0;
|
||||
ret += (expected_min[2] > adc.raw_data[2] || expected_max[2] < adc.raw_data[2]) ? 1 : 0;
|
||||
ret += (expected_min[3] > adc.raw_data[3] || expected_max[3] < adc.raw_data[3]) ? 1 : 0;
|
||||
|
||||
PX4_INFO("Sample:");
|
||||
PX4_INFO("channel: %d value: %d (allowed min: %d, allowed max: %d), result: %s",
|
||||
adc.channel_id[0], (int)(adc.raw_data[0]), expected_min[0], expected_max[0], check_res[0]);
|
||||
PX4_INFO("channel: %d value: %d (allowed min: %d, allowed max: %d), result: %s",
|
||||
adc.channel_id[1], (int)(adc.raw_data[1]), expected_min[1], expected_max[1], check_res[1]);
|
||||
PX4_INFO("channel: %d value: %d (allowed min: %d, allowed max: %d), result: %s",
|
||||
adc.channel_id[2], (int)(adc.raw_data[2]), expected_min[2], expected_max[2], check_res[2]);
|
||||
PX4_INFO("channel: %d value: %d (allowed min: %d, allowed max: %d), result: %s",
|
||||
adc.channel_id[3], (int)(adc.raw_data[3]), expected_min[3], expected_max[3], check_res[3]);
|
||||
|
||||
if (ret != OK) {
|
||||
PX4_ERR("\t JIG voltages test FAILED. Some channels where out of allowed range. Check supply voltages.");
|
||||
return ret;
|
||||
}
|
||||
}
|
||||
|
||||
PX4_INFO("JIG voltages test successful.");
|
||||
|
||||
return OK;
|
||||
|
||||
} else {
|
||||
return 1;
|
||||
}
|
||||
}
|
|
@ -1,127 +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_servo.c
|
||||
* Tests the servo outputs
|
||||
*/
|
||||
|
||||
#include <px4_platform_common/time.h>
|
||||
#include <px4_platform_common/px4_config.h>
|
||||
|
||||
#include <sys/types.h>
|
||||
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <unistd.h>
|
||||
#include <fcntl.h>
|
||||
#include <errno.h>
|
||||
#include <time.h>
|
||||
|
||||
#include <drivers/drv_pwm_output.h>
|
||||
#include <systemlib/err.h>
|
||||
|
||||
#include "tests_main.h"
|
||||
|
||||
int test_servo(int argc, char *argv[])
|
||||
{
|
||||
int fd;
|
||||
int result = 0;
|
||||
servo_position_t data[PWM_OUTPUT_MAX_CHANNELS];
|
||||
servo_position_t pos;
|
||||
|
||||
fd = open(PWM_OUTPUT0_DEVICE_PATH, O_RDWR);
|
||||
|
||||
if (fd < 0) {
|
||||
printf("failed opening /dev/pwm_servo\n");
|
||||
goto out;
|
||||
}
|
||||
|
||||
result = read(fd, &data, sizeof(data));
|
||||
|
||||
if (result != sizeof(data)) {
|
||||
printf("failed bulk-reading channel values\n");
|
||||
goto out;
|
||||
}
|
||||
|
||||
printf("Servo readback, pairs of values should match defaults\n");
|
||||
|
||||
unsigned servo_count;
|
||||
result = ioctl(fd, PWM_SERVO_GET_COUNT, (unsigned long)&servo_count);
|
||||
|
||||
if (result != OK) {
|
||||
warnx("PWM_SERVO_GET_COUNT");
|
||||
goto out;
|
||||
}
|
||||
|
||||
for (unsigned i = 0; i < servo_count; i++) {
|
||||
result = ioctl(fd, PWM_SERVO_GET(i), (unsigned long)&pos);
|
||||
|
||||
if (result < 0) {
|
||||
printf("failed reading channel %u\n", i);
|
||||
goto out;
|
||||
}
|
||||
|
||||
printf("%u: %u %u\n", i, pos, data[i]);
|
||||
|
||||
}
|
||||
|
||||
/* tell safety that its ok to disable it with the switch */
|
||||
result = ioctl(fd, PWM_SERVO_SET_ARM_OK, 0);
|
||||
|
||||
if (result != OK) {
|
||||
warnx("FAIL: PWM_SERVO_SET_ARM_OK");
|
||||
goto out;
|
||||
}
|
||||
|
||||
/* tell output device that the system is armed (it will output values if safety is off) */
|
||||
result = ioctl(fd, PWM_SERVO_ARM, 0);
|
||||
|
||||
if (result != OK) {
|
||||
warnx("FAIL: PWM_SERVO_ARM");
|
||||
goto out;
|
||||
}
|
||||
|
||||
px4_usleep(5000000);
|
||||
printf("Advancing channel 0 to 1500\n");
|
||||
result = ioctl(fd, PWM_SERVO_SET(0), 1500);
|
||||
printf("Advancing channel 1 to 1800\n");
|
||||
result = ioctl(fd, PWM_SERVO_SET(1), 1800);
|
||||
out:
|
||||
|
||||
if (fd >= 0) {
|
||||
close(fd);
|
||||
}
|
||||
|
||||
return result;
|
||||
}
|
|
@ -57,7 +57,16 @@ int test_sleep(int argc, char *argv[])
|
|||
fflush(stdout);
|
||||
|
||||
for (unsigned int i = 0; i < nsleeps; i++) {
|
||||
const hrt_abstime time_start = hrt_absolute_time();
|
||||
px4_usleep(100000);
|
||||
const hrt_abstime time_stop = hrt_absolute_time();
|
||||
|
||||
int elapsed = time_stop - time_start;
|
||||
|
||||
if (elapsed < 100000) {
|
||||
PX4_ERR("\t Sleep test failed, only %d us elapsed\n", elapsed);
|
||||
return PX4_ERROR;
|
||||
}
|
||||
}
|
||||
|
||||
printf("\t Sleep test successful.\n");
|
||||
|
|
|
@ -75,29 +75,25 @@ cycletime(void)
|
|||
|
||||
int test_time(int argc, char *argv[])
|
||||
{
|
||||
hrt_abstime h, c;
|
||||
int lowdelta, maxdelta = 0;
|
||||
int delta, deltadelta;
|
||||
int maxdelta = 0;
|
||||
|
||||
/* enable the cycle counter */
|
||||
(*(unsigned long *)0xe000edfc) |= (1 << 24); /* DEMCR |= DEMCR_TRCENA */
|
||||
(*(unsigned long *)0xe0001000) |= 1; /* DWT_CTRL |= DWT_CYCCNT_ENA */
|
||||
|
||||
/* get an average delta between the two clocks - this should stay roughly the same */
|
||||
delta = 0;
|
||||
int delta = 0;
|
||||
|
||||
for (unsigned i = 0; i < 100; i++) {
|
||||
uint32_t flags = px4_enter_critical_section();
|
||||
|
||||
h = hrt_absolute_time();
|
||||
c = cycletime();
|
||||
|
||||
irqstate_t flags = px4_enter_critical_section();
|
||||
hrt_abstime h = hrt_absolute_time();
|
||||
hrt_abstime c = cycletime();
|
||||
px4_leave_critical_section(flags);
|
||||
|
||||
delta += h - c;
|
||||
}
|
||||
|
||||
lowdelta = abs(delta / 100);
|
||||
int lowdelta = abs(delta / 100);
|
||||
|
||||
/* loop checking the time */
|
||||
for (unsigned i = 0; i < 100; i++) {
|
||||
|
@ -106,13 +102,13 @@ int test_time(int argc, char *argv[])
|
|||
|
||||
uint32_t flags = px4_enter_critical_section();
|
||||
|
||||
c = cycletime();
|
||||
h = hrt_absolute_time();
|
||||
hrt_abstime c = cycletime();
|
||||
hrt_abstime h = hrt_absolute_time();
|
||||
|
||||
px4_leave_critical_section(flags);
|
||||
|
||||
delta = h - c;
|
||||
deltadelta = abs(delta - lowdelta);
|
||||
int deltadelta = abs(delta - lowdelta);
|
||||
|
||||
if (deltadelta > maxdelta) {
|
||||
maxdelta = deltadelta;
|
||||
|
|
|
@ -77,7 +77,6 @@ const struct {
|
|||
{"uart_console", test_uart_console, OPT_NOJIGTEST | OPT_NOALLTEST},
|
||||
#endif /* __PX4_NUTTX */
|
||||
|
||||
{"adc", test_adc, OPT_NOJIGTEST},
|
||||
{"atomic_bitset", test_atomic_bitset, 0},
|
||||
{"bezier", test_bezierQuad, 0},
|
||||
{"bitset", test_bitset, 0},
|
||||
|
@ -91,17 +90,10 @@ const struct {
|
|||
{"int", test_int, 0},
|
||||
{"i2c_spi_cli", test_i2c_spi_cli, 0},
|
||||
{"IntrusiveQueue", test_IntrusiveQueue, 0},
|
||||
{"jig_voltages", test_jig_voltages, OPT_NOALLTEST},
|
||||
{"IntrusiveSortedList", test_IntrusiveSortedList, 0},
|
||||
{"List", test_List, 0},
|
||||
{"mathlib", test_mathlib, 0},
|
||||
{"matrix", test_matrix, 0},
|
||||
{"microbench_atomic", test_microbench_atomic, 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},
|
||||
{"mixer", test_mixer, OPT_NOJIGTEST},
|
||||
{"param", test_param, 0},
|
||||
{"parameters", test_parameters, 0},
|
||||
|
@ -110,20 +102,17 @@ const struct {
|
|||
{"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},
|
||||
{"uart_loopback", test_uart_loopback, OPT_NOJIGTEST | OPT_NOALLTEST},
|
||||
{"uart_send", test_uart_send, OPT_NOJIGTEST | OPT_NOALLTEST},
|
||||
{"versioning", test_versioning, 0},
|
||||
{"cli", test_cli, 0},
|
||||
|
||||
{NULL, NULL, 0}
|
||||
};
|
||||
|
||||
#define NTESTS (sizeof(tests) / sizeof(tests[0]))
|
||||
|
||||
static int
|
||||
test_help(int argc, char *argv[])
|
||||
static int test_help(int argc, char *argv[])
|
||||
{
|
||||
unsigned i;
|
||||
|
||||
|
@ -136,20 +125,17 @@ test_help(int argc, char *argv[])
|
|||
return 0;
|
||||
}
|
||||
|
||||
static int
|
||||
test_all(int argc, char *argv[])
|
||||
static int test_all(int argc, char *argv[])
|
||||
{
|
||||
return test_runner(OPT_NOALLTEST);
|
||||
}
|
||||
|
||||
static int
|
||||
test_jig(int argc, char *argv[])
|
||||
static int test_jig(int argc, char *argv[])
|
||||
{
|
||||
return test_runner(OPT_NOJIGTEST);
|
||||
}
|
||||
|
||||
static int
|
||||
test_runner(unsigned option)
|
||||
static int test_runner(unsigned option)
|
||||
{
|
||||
size_t i;
|
||||
char *args[2] = {"all", NULL};
|
||||
|
|
|
@ -43,7 +43,6 @@
|
|||
|
||||
__BEGIN_DECLS
|
||||
|
||||
extern int test_adc(int argc, char *argv[]);
|
||||
extern int test_atomic_bitset(int argc, char *argv[]);
|
||||
extern int test_bezierQuad(int argc, char *argv[]);
|
||||
extern int test_bitset(int argc, char *argv[]);
|
||||
|
@ -58,17 +57,11 @@ extern int test_hrt(int argc, char *argv[]);
|
|||
extern int test_int(int argc, char *argv[]);
|
||||
extern int test_i2c_spi_cli(int argc, char *argv[]);
|
||||
extern int test_IntrusiveQueue(int argc, char *argv[]);
|
||||
extern int test_jig_voltages(int argc, char *argv[]);
|
||||
extern int test_led(int argc, char *argv[]);
|
||||
extern int test_IntrusiveSortedList(int argc, char *argv[]);
|
||||
extern int test_List(int argc, char *argv[]);
|
||||
extern int test_mathlib(int argc, char *argv[]);
|
||||
extern int test_matrix(int argc, char *argv[]);
|
||||
extern int test_microbench_atomic(int argc, char *argv[]);
|
||||
extern int test_microbench_hrt(int argc, char *argv[]);
|
||||
extern int test_microbench_math(int argc, char *argv[]);
|
||||
extern int test_microbench_matrix(int argc, char *argv[]);
|
||||
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[]);
|
||||
|
@ -78,7 +71,6 @@ 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_servo(int argc, char *argv[]);
|
||||
extern int test_sleep(int argc, char *argv[]);
|
||||
extern int test_time(int argc, char *argv[]);
|
||||
extern int test_uart_baudchange(int argc, char *argv[]);
|
||||
|
|
Loading…
Reference in New Issue