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author | Julian Oes <julian@oes.ch> | 2013-12-03 16:25:46 +0100 |
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committer | Julian Oes <julian@oes.ch> | 2013-12-03 16:25:46 +0100 |
commit | e034f5135ebabeb751ea775f2d79440cf74c8047 (patch) | |
tree | ce22ff4de2a1de0f9aa9830474f25142678b9d8a | |
parent | 83b09614e71c7ea68db1081a673e53bca2d9422f (diff) | |
download | px4-firmware-e034f5135ebabeb751ea775f2d79440cf74c8047.tar.gz px4-firmware-e034f5135ebabeb751ea775f2d79440cf74c8047.tar.bz2 px4-firmware-e034f5135ebabeb751ea775f2d79440cf74c8047.zip |
Dataman: Some minor fixes
-rw-r--r-- | src/modules/dataman/dataman.c | 16 | ||||
-rw-r--r-- | src/modules/dataman/dataman.h | 5 | ||||
-rw-r--r-- | src/systemcmds/tests/test_dataman.c | 23 |
3 files changed, 22 insertions, 22 deletions
diff --git a/src/modules/dataman/dataman.c b/src/modules/dataman/dataman.c index 05b77da20..dd3573d9a 100644 --- a/src/modules/dataman/dataman.c +++ b/src/modules/dataman/dataman.c @@ -33,10 +33,8 @@ * ****************************************************************************/ /** - * @file navigator_main.c - * Implementation of the main navigation state machine. - * - * Handles missions, geo fencing and failsafe navigation behavior. + * @file dataman.c + * DATAMANAGER driver. */ #include <nuttx/config.h> @@ -113,7 +111,7 @@ static unsigned g_func_counts[dm_number_of_funcs]; static const unsigned g_per_item_max_index[DM_KEY_NUM_KEYS] = { DM_KEY_SAFE_POINTS_MAX, DM_KEY_FENCE_POINTS_MAX, - DM_KEY_WAY_POINTS_MAX, + DM_KEY_WAYPOINTS_MAX, }; /* Table of offset for index 0 of each item type */ @@ -138,7 +136,7 @@ static work_q_t g_work_q; sem_t g_work_queued_sema; sem_t g_init_sema; -static bool g_task_should_exit; /**< if true, sensor task should exit */ +static bool g_task_should_exit; /**< if true, dataman task should exit */ #define DM_SECTOR_HDR_SIZE 4 static const unsigned k_sector_size = DM_MAX_DATA_SIZE + DM_SECTOR_HDR_SIZE; @@ -266,11 +264,11 @@ _write(dm_item_t item, unsigned char index, dm_persitence_t persistence, const v /* Get the offset for this item */ offset = calculate_offset(item, index); - if (offset < 0) + if (offset < 0) return -1; /* Make sure caller has not given us more data than we can handle */ - if (count > DM_MAX_DATA_SIZE) + if (count > DM_MAX_DATA_SIZE) return -1; /* Write out the data, prefixed with length and persistence level */ @@ -456,7 +454,7 @@ dm_write(dm_item_t item, unsigned char index, dm_persitence_t persistence, const return -1; /* Will return with queues locked */ - if ((work = create_work_item()) == NULL) + if ((work = create_work_item()) == NULL) return -1; /* queues unlocked on failure */ work->func = dm_write_func; diff --git a/src/modules/dataman/dataman.h b/src/modules/dataman/dataman.h index 41ddfaf61..9e1f789ad 100644 --- a/src/modules/dataman/dataman.h +++ b/src/modules/dataman/dataman.h @@ -41,7 +41,6 @@ #include <uORB/topics/mission.h> #include <uORB/topics/fence.h> -#include <mavlink/waypoints.h> #ifdef __cplusplus extern "C" { @@ -51,7 +50,7 @@ extern "C" { typedef enum { DM_KEY_SAFE_POINTS = 0, /* Safe points coordinates, safe point 0 is home point */ DM_KEY_FENCE_POINTS, /* Fence vertex coordinates */ - DM_KEY_WAY_POINTS, /* Mission way point coordinates */ + DM_KEY_WAYPOINTS, /* Mission way point coordinates */ DM_KEY_NUM_KEYS /* Total number of item types defined */ } dm_item_t; @@ -59,7 +58,7 @@ extern "C" { enum { DM_KEY_SAFE_POINTS_MAX = 8, DM_KEY_FENCE_POINTS_MAX = GEOFENCE_MAX_VERTICES, - DM_KEY_WAY_POINTS_MAX = MAVLINK_WPM_MAX_WP_COUNT, + DM_KEY_WAYPOINTS_MAX = NUM_MISSIONS_SUPPORTED }; /* Data persistence levels */ diff --git a/src/systemcmds/tests/test_dataman.c b/src/systemcmds/tests/test_dataman.c index e33c5aceb..7de87b476 100644 --- a/src/systemcmds/tests/test_dataman.c +++ b/src/systemcmds/tests/test_dataman.c @@ -83,12 +83,15 @@ task_main(int argc, char *argv[]) srand(hrt_absolute_time() ^ my_id); unsigned hit = 0, miss = 0; wstart = hrt_absolute_time(); - for (unsigned i = 0; i < 256; i++) { + for (unsigned i = 0; i < NUM_MISSIONS_SUPPORTED; i++) { memset(buffer, my_id, sizeof(buffer)); buffer[1] = i; unsigned hash = i ^ my_id; unsigned len = (hash & 63) + 2; - if (dm_write(DM_KEY_WAY_POINTS, hash, DM_PERSIST_IN_FLIGHT_RESET, buffer, len) != len) { + + int ret = dm_write(DM_KEY_WAYPOINTS, hash, DM_PERSIST_IN_FLIGHT_RESET, buffer, len); + warnx("ret: %d", ret); + if (ret != len) { warnx("%d write failed, index %d, length %d", my_id, hash, len); goto fail; } @@ -97,10 +100,10 @@ task_main(int argc, char *argv[]) rstart = hrt_absolute_time(); wend = rstart; - for (unsigned i = 0; i < 256; i++) { + for (unsigned i = 0; i < NUM_MISSIONS_SUPPORTED; i++) { unsigned hash = i ^ my_id; unsigned len2, len = (hash & 63) + 2; - if ((len2 = dm_read(DM_KEY_WAY_POINTS, hash, buffer, sizeof(buffer))) < 2) { + if ((len2 = dm_read(DM_KEY_WAYPOINTS, hash, buffer, sizeof(buffer))) < 2) { warnx("%d read failed length test, index %d", my_id, hash); goto fail; } @@ -120,7 +123,7 @@ task_main(int argc, char *argv[]) } rend = hrt_absolute_time(); warnx("Test %d pass, hit %d, miss %d, io time read %llums. write %llums.", - my_id, hit, miss, (rend - rstart) / 256000, (wend - wstart) / 256000); + my_id, hit, miss, (rend - rstart) / NUM_MISSIONS_SUPPORTED / 1000, (wend - wstart) / NUM_MISSIONS_SUPPORTED / 1000); sem_post(sems + my_id); return 0; fail: @@ -159,18 +162,18 @@ int test_dataman(int argc, char *argv[]) } free(sems); dm_restart(DM_INIT_REASON_IN_FLIGHT); - for (i = 0; i < 256; i++) { - if (dm_read(DM_KEY_WAY_POINTS, i, buffer, sizeof(buffer)) != 0) + for (i = 0; i < NUM_MISSIONS_SUPPORTED; i++) { + if (dm_read(DM_KEY_WAYPOINTS, i, buffer, sizeof(buffer)) != 0) break; } - if (i >= 256) { + if (i >= NUM_MISSIONS_SUPPORTED) { warnx("Restart in-flight failed"); return -1; } dm_restart(DM_INIT_REASON_POWER_ON); - for (i = 0; i < 256; i++) { - if (dm_read(DM_KEY_WAY_POINTS, i, buffer, sizeof(buffer)) != 0) { + for (i = 0; i < NUM_MISSIONS_SUPPORTED; i++) { + if (dm_read(DM_KEY_WAYPOINTS, i, buffer, sizeof(buffer)) != 0) { warnx("Restart power-on failed"); return -1; } |