uORB_tests_main.cpp

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 *
 *   Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
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 *
 * 1. Redistributions of source code must retain the above copyright
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 *    used to endorse or promote products derived from this software
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#include <string.h>
#include "../uORBDeviceNode.hpp"
#include "../uORB.h"
#include "../uORBCommon.hpp"

#ifndef __PX4_QURT
#include "uORBTest_UnitTest.hpp"
#endif

extern "C" { __EXPORT int uorb_tests_main(int argc, char *argv[]); }

static void usage()
{
    PX4_INFO("Usage: uorb_tests [latency_test]");
}

int
uorb_tests_main(int argc, char *argv[])
{

#ifndef __PX4_QURT

    /*
     * Test the driver/device.
     */
    if (argc == 1) {
        uORBTest::UnitTest &t = uORBTest::UnitTest::instance();
        int rc = t.test();

        if (rc == OK) {
            fprintf(stdout, "  [uORBTest] \t\tPASS\n");
            fflush(stdout);
            return 0;

        } else {
            fprintf(stderr, "  [uORBTest] \t\tFAIL\n");
            fflush(stderr);
            return -1;
        }
    }

    /*
     * Test the latency.
     */
    if (argc > 1 && !strcmp(argv[1], "latency_test")) {

        uORBTest::UnitTest &t = uORBTest::UnitTest::instance();

        if (argc > 2 && !strcmp(argv[2], "medium")) {
            return t.latency_test<struct orb_test_medium>(ORB_ID(orb_test_medium), true);

        } else if (argc > 2 && !strcmp(argv[2], "large")) {
            return t.latency_test<struct orb_test_large>(ORB_ID(orb_test_large), true);

        } else {
            return t.latency_test<struct orb_test>(ORB_ID(orb_test), true);
        }
    }

#endif

    usage();
    return -EINVAL;
}