Fixed mixer chunk load and line ending detection for good.

1 files changed, 127 insertions, 2 deletions

diff --git a/src/systemcmds/tests/test_mixer.cpp b/src/systemcmds/tests/test_mixer.cpp
index acb7bd88f..4da86042d 100644
--- a/src/systemcmds/tests/test_mixer.cpp
+++ b/src/systemcmds/tests/test_mixer.cpp
@@ -46,6 +46,7 @@
 #include <unistd.h>
 #include <fcntl.h>
 #include <errno.h>
+#include <string.h>
 #include <time.h>
 
 #include <systemlib/err.h>
@@ -53,6 +54,11 @@
 
 #include "tests.h"
 
+static int	mixer_callback(uintptr_t handle,
+			       uint8_t control_group,
+			       uint8_t control_index,
+			       float &control);
+
 int test_mixer(int argc, char *argv[])
 {
 	warnx("testing mixer");
@@ -66,9 +72,128 @@ int test_mixer(int argc, char *argv[])
 
 	char		buf[2048];
 
-	load_mixer_file(filename, &buf[0]);
+	load_mixer_file(filename, &buf[0], sizeof(buf));
+	unsigned loaded = strlen(buf);
+
+	warnx("loaded: \n\"%s\"\n (%d chars)", &buf[0], loaded);
+
+	/* load the mixer in chunks, like
+	 * in the case of a remote load,
+	 * e.g. on PX4IO.
+	 */
+
+	unsigned nused = 0;
+
+	const unsigned chunk_size = 64;
+
+	MixerGroup mixer_group(mixer_callback, 0);
+
+	/* load at once test */
+	unsigned xx = loaded;
+	mixer_group.load_from_buf(&buf[0], xx);
+	warnx("complete buffer load: loaded %u mixers", mixer_group.count());
+	if (mixer_group.count() != 8)
+		return 1;
+
+	unsigned empty_load = 2;
+	char empty_buf[2];
+	empty_buf[0] = ' ';
+	empty_buf[1] = '\0';
+	mixer_group.reset();
+	mixer_group.load_from_buf(&empty_buf[0], empty_load);
+	warnx("empty buffer load: loaded %u mixers, used: %u", mixer_group.count(), empty_load);
+	if (empty_load != 0)
+		return 1;
+
+	/* FIRST mark the mixer as invalid */
+	bool mixer_ok = false;
+	/* THEN actually delete it */
+	mixer_group.reset();
+	char mixer_text[256];		/* large enough for one mixer */
+	unsigned mixer_text_length = 0;
+
+	unsigned transmitted = 0;
+
+	warnx("transmitted: %d, loaded: %d", transmitted, loaded);
+
+	while (transmitted < loaded) {
+
+		unsigned	text_length = (loaded - transmitted > chunk_size) ? chunk_size : loaded - transmitted;
+
+		/* check for overflow - this would be really fatal */
+		if ((mixer_text_length + text_length + 1) > sizeof(mixer_text)) {
+			bool mixer_ok = false;
+			return 1;
+		}
+
+		/* append mixer text and nul-terminate */
+		memcpy(&mixer_text[mixer_text_length], &buf[transmitted], text_length);
+		mixer_text_length += text_length;
+		mixer_text[mixer_text_length] = '\0';
+		warnx("buflen %u, text:\n\"%s\"", mixer_text_length, &mixer_text[0]);
+
+		/* process the text buffer, adding new mixers as their descriptions can be parsed */
+		unsigned resid = mixer_text_length;
+		mixer_group.load_from_buf(&mixer_text[0], resid);
+
+		/* if anything was parsed */
+		if (resid != mixer_text_length) {
+
+			/* only set mixer ok if no residual is left over */
+			if (resid == 0) {
+				mixer_ok = true;
+			} else {
+				/* not yet reached the end of the mixer, set as not ok */
+				mixer_ok = false;
+			}
+
+			warnx("used %u", mixer_text_length - resid);
+
+			/* copy any leftover text to the base of the buffer for re-use */
+			if (resid > 0)
+				memcpy(&mixer_text[0], &mixer_text[mixer_text_length - resid], resid);
+
+			mixer_text_length = resid;
+		}
+
+		transmitted += text_length;
+	}
+
+	warnx("chunked load: loaded %u mixers", mixer_group.count());
+
+	if (mixer_group.count() != 8)
+		return 1;
+
+	/* load multirotor at once test */
+	mixer_group.reset();
+
+	if (argc > 2)
+		filename = argv[2];
+	else
+		filename = "/etc/mixers/FMU_quad_w.mix";
+
+	load_mixer_file(filename, &buf[0], sizeof(buf));
+	loaded = strlen(buf);
+
+	warnx("loaded: \n\"%s\"\n (%d chars)", &buf[0], loaded);
+
+	unsigned mc_loaded = loaded;
+	mixer_group.load_from_buf(&buf[0], mc_loaded);
+	warnx("complete buffer load: loaded %u mixers", mixer_group.count());
+	if (mixer_group.count() != 8)
+		return 1;
+}
+
+static int
+mixer_callback(uintptr_t handle,
+	       uint8_t control_group,
+	       uint8_t control_index,
+	       float &control)
+{
+	if (control_group != 0)
+		return -1;
 
-	warnx("loaded: %s", &buf[0]);
+	control = 0.0f;
 
 	return 0;
 }