static TEE_Result invoke_command(void *pSessionContext, uint32_t nCommandID,
uint32_t nParamTypes, TEE_Param pParams[4])
{
DMSG("command entry point for static ta \"%s\"", TA_NAME);
switch (nCommandID) {
case CMD_TRACE:
return test_trace(nParamTypes, pParams);
case CMD_PARAMS:
return test_entry_params(nParamTypes, pParams);
case CMD_DIRTY_TESTS:
return core_dirty_tests(nParamTypes, pParams);
default:
break;
}
return TEE_ERROR_BAD_PARAMETERS;
}
/*
Tests Definitions
*/
void TestGridRayTrace(std::ostream& output)
{
tf::Vector3 start(1.0, 1.0, 0.0);
tf::Vector3 end(10.0, 10.0, 0.0);
output << start.getX() << "," << start.getY();
output << " -> ";
output << end.getX() << "," << end.getY();
output << "\n";
OccupancyGrid test_grid(0, 0, 2.0, 0.0, 0.0);
int i, j;
GridRayTrace test_trace(start, end, test_grid);
while(test_trace.getNextPoint(i, j))
output << i << ", " << j << "\n";
}
void test_trace(int argc, char **argv) {
test_argc = argc;
test_argv = argv;
test_common_init();
pthread_t p;
pthread_create(&p, NULL, (void *)&test_thread, (void *)NULL);
while (!test_thread_running) {
struct timespec ts = { .tv_sec=0, .tv_nsec=33333333 };
nanosleep(&ts, NULL);
}
emulator_start();
//pthread_join(p, NULL);
}
#if !defined(__APPLE__) && !defined(ANDROID)
int main(int argc, char **argv) {
test_trace(argc, argv);
}
int main(int argc, char** argv)
{
if (argc != 2) {
usage(argv);
return 1;
}
mem_mgmt_t * mem;
int test_number = atoi(argv[1]);
switch (test_number) {
case 0:
mem = new fixed_lists_mem_t();
test(mem);
break;
case 1:
mem = new fixed_lists_mem_t();
test_trace(mem);
break;
default:
usage(argv);
return 1;
}
}