forked from Archive/PX4-Autopilot
330 lines
9.6 KiB
C
330 lines
9.6 KiB
C
/****************************************************************************
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*
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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* Author: @author Lorenz Meier <lm@inf.ethz.ch>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file tests_main.c
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* Tests main file, loads individual tests.
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*/
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#include <nuttx/config.h>
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#include <sys/types.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include <unistd.h>
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#include <fcntl.h>
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#include <errno.h>
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#include <debug.h>
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#include <arch/board/board.h>
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#include <nuttx/spi.h>
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#include <systemlib/perf_counter.h>
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#include "tests.h"
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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/****************************************************************************
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* Private Types
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****************************************************************************/
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/****************************************************************************
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* Private Function Prototypes
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****************************************************************************/
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static int test_help(int argc, char *argv[]);
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static int test_all(int argc, char *argv[]);
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static int test_perf(int argc, char *argv[]);
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static int test_jig(int argc, char *argv[]);
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/****************************************************************************
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* Private Data
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****************************************************************************/
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struct {
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const char *name;
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int (* fn)(int argc, char *argv[]);
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unsigned options;
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int passed;
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#define OPT_NOHELP (1<<0)
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#define OPT_NOALLTEST (1<<1)
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#define OPT_NOJIGTEST (1<<2)
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} tests[] = {
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{"led", test_led, 0, 0},
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{"int", test_int, 0, 0},
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{"float", test_float, 0, 0},
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{"sensors", test_sensors, 0, 0},
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{"gpio", test_gpio, OPT_NOJIGTEST | OPT_NOALLTEST, 0},
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{"hrt", test_hrt, OPT_NOJIGTEST | OPT_NOALLTEST, 0},
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{"ppm", test_ppm, OPT_NOJIGTEST | OPT_NOALLTEST, 0},
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{"servo", test_servo, OPT_NOJIGTEST | OPT_NOALLTEST, 0},
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{"adc", test_adc, OPT_NOJIGTEST, 0},
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{"jig_voltages", test_jig_voltages, OPT_NOALLTEST, 0},
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{"eeproms", test_eeproms, 0, 0},
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{"uart_loopback", test_uart_loopback, OPT_NOJIGTEST | OPT_NOALLTEST, 0},
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{"uart_baudchange", test_uart_baudchange, OPT_NOJIGTEST | OPT_NOALLTEST, 0},
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{"uart_send", test_uart_send, OPT_NOJIGTEST | OPT_NOALLTEST, 0},
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{"uart_console", test_uart_console, OPT_NOJIGTEST | OPT_NOALLTEST, 0},
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{"tone", test_tone, 0, 0},
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{"sleep", test_sleep, OPT_NOJIGTEST, 0},
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{"time", test_time, OPT_NOJIGTEST, 0},
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{"perf", test_perf, OPT_NOJIGTEST, 0},
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{"all", test_all, OPT_NOALLTEST | OPT_NOJIGTEST, 0},
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{"jig", test_jig, OPT_NOJIGTEST | OPT_NOALLTEST, 0},
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{"param", test_param, 0, 0},
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{"help", test_help, OPT_NOALLTEST | OPT_NOHELP | OPT_NOJIGTEST, 0},
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{NULL, NULL, 0, 0}
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};
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static int
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test_help(int argc, char *argv[])
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{
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unsigned i;
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printf("Available tests:\n");
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for (i = 0; tests[i].name; i++)
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printf(" %s\n", tests[i].name);
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return 0;
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}
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static int
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test_all(int argc, char *argv[])
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{
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unsigned i;
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char *args[2] = {"all", NULL};
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unsigned int failcount = 0;
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printf("\nRunning all tests...\n\n");
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for (i = 0; tests[i].name; i++) {
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/* Only run tests that are not excluded */
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if (!(tests[i].options & OPT_NOALLTEST)) {
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printf(" [%s] \t\t\tSTARTING TEST\n", tests[i].name);
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fflush(stdout);
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/* Execute test */
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if (tests[i].fn(1, args) != 0) {
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fprintf(stderr, " [%s] \t\t\tFAIL\n", tests[i].name);
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fflush(stderr);
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failcount++;
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} else {
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tests[i].passed = 1;
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printf(" [%s] \t\t\tPASS\n", tests[i].name);
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fflush(stdout);
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}
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}
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}
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/* Print summary */
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printf("\n");
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int j;
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for (j = 0; j < 40; j++) {
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printf("-");
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}
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printf("\n\n");
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printf(" T E S T S U M M A R Y\n\n");
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if (failcount == 0) {
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printf(" ______ __ __ ______ __ __ \n");
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printf(" /\\ __ \\ /\\ \\ /\\ \\ /\\ __ \\ /\\ \\/ / \n");
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printf(" \\ \\ __ \\ \\ \\ \\____ \\ \\ \\____ \\ \\ \\/\\ \\ \\ \\ _\"-. \n");
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printf(" \\ \\_\\ \\_\\ \\ \\_____\\ \\ \\_____\\ \\ \\_____\\ \\ \\_\\ \\_\\ \n");
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printf(" \\/_/\\/_/ \\/_____/ \\/_____/ \\/_____/ \\/_/\\/_/ \n");
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printf("\n");
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printf(" All tests passed (%d of %d)\n", i, i);
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} else {
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printf(" ______ ______ __ __ \n");
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printf(" /\\ ___\\ /\\ __ \\ /\\ \\ /\\ \\ \n");
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printf(" \\ \\ __\\ \\ \\ __ \\ \\ \\ \\ \\ \\ \\__\n");
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printf(" \\ \\_\\ \\ \\_\\ \\_\\ \\ \\_\\ \\ \\_____\\ \n");
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printf(" \\/_/ \\/_/\\/_/ \\/_/ \\/_____/ \n");
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printf("\n");
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printf(" Some tests failed (%d of %d)\n", failcount, i);
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}
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printf("\n");
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/* Print failed tests */
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if (failcount > 0) printf(" Failed tests:\n\n");
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unsigned int k;
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for (k = 0; k < i; k++) {
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if ((tests[k].passed == 0) && !(tests[k].options & OPT_NOALLTEST)) {
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printf(" [%s] to obtain details, please re-run with\n\t nsh> tests %s\n\n", tests[k].name, tests[k].name);
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}
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}
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fflush(stdout);
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return 0;
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}
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static int
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test_perf(int argc, char *argv[])
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{
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perf_counter_t cc, ec;
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cc = perf_alloc(PC_COUNT, "test_count");
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ec = perf_alloc(PC_ELAPSED, "test_elapsed");
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if ((cc == NULL) || (ec == NULL)) {
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printf("perf: counter alloc failed\n");
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return 1;
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}
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perf_begin(ec);
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perf_count(cc);
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perf_count(cc);
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perf_count(cc);
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perf_count(cc);
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printf("perf: expect count of 4\n");
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perf_print_counter(cc);
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perf_end(ec);
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printf("perf: expect count of 1\n");
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perf_print_counter(ec);
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printf("perf: expect at least two counters\n");
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perf_print_all();
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perf_free(cc);
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perf_free(ec);
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return OK;
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}
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int test_jig(int argc, char *argv[])
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{
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unsigned i;
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char *args[2] = {"jig", NULL};
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unsigned int failcount = 0;
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printf("\nRunning all tests...\n\n");
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for (i = 0; tests[i].name; i++) {
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/* Only run tests that are not excluded */
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if (!(tests[i].options & OPT_NOJIGTEST)) {
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printf(" [%s] \t\t\tSTARTING TEST\n", tests[i].name);
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fflush(stdout);
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/* Execute test */
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if (tests[i].fn(1, args) != 0) {
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fprintf(stderr, " [%s] \t\t\tFAIL\n", tests[i].name);
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fflush(stderr);
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failcount++;
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} else {
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tests[i].passed = 1;
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printf(" [%s] \t\t\tPASS\n", tests[i].name);
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fflush(stdout);
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}
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}
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}
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/* Print summary */
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printf("\n");
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int j;
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for (j = 0; j < 40; j++)
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{
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printf("-");
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}
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printf("\n\n");
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printf(" T E S T S U M M A R Y\n\n");
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if (failcount == 0) {
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printf(" ______ __ __ ______ __ __ \n");
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printf(" /\\ __ \\ /\\ \\ /\\ \\ /\\ __ \\ /\\ \\/ / \n");
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printf(" \\ \\ __ \\ \\ \\ \\____ \\ \\ \\____ \\ \\ \\/\\ \\ \\ \\ _\"-. \n");
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printf(" \\ \\_\\ \\_\\ \\ \\_____\\ \\ \\_____\\ \\ \\_____\\ \\ \\_\\ \\_\\ \n");
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printf(" \\/_/\\/_/ \\/_____/ \\/_____/ \\/_____/ \\/_/\\/_/ \n");
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printf("\n");
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printf(" All tests passed (%d of %d)\n", i, i);
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} else {
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printf(" ______ ______ __ __ \n");
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printf(" /\\ ___\\ /\\ __ \\ /\\ \\ /\\ \\ \n");
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printf(" \\ \\ __\\ \\ \\ __ \\ \\ \\ \\ \\ \\ \\__\n");
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printf(" \\ \\_\\ \\ \\_\\ \\_\\ \\ \\_\\ \\ \\_____\\ \n");
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printf(" \\/_/ \\/_/\\/_/ \\/_/ \\/_____/ \n");
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printf("\n");
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printf(" Some tests failed (%d of %d)\n", failcount, i);
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}
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printf("\n");
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/* Print failed tests */
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if (failcount > 0) printf(" Failed tests:\n\n");
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unsigned int k;
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for (k = 0; k < i; k++)
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{
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if ((tests[k].passed == 0) && !(tests[k].options & OPT_NOJIGTEST))
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{
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printf(" [%s] to obtain details, please re-run with\n\t nsh> tests %s\n\n", tests[k].name, tests[k].name);
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}
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}
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fflush(stdout);
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return 0;
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}
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__EXPORT int tests_main(int argc, char *argv[]);
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/**
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* Executes system tests.
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*/
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int tests_main(int argc, char *argv[])
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{
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unsigned i;
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if (argc < 2) {
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printf("tests: missing test name - 'tests help' for a list of tests\n");
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return 1;
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}
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for (i = 0; tests[i].name; i++) {
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if (!strcmp(tests[i].name, argv[1]))
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return tests[i].fn(argc - 1, argv + 1);
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}
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printf("tests: no test called '%s' - 'tests help' for a list of tests\n", argv[1]);
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return ERROR;
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}
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