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author | Lorenz Meier <lm@inf.ethz.ch> | 2013-10-13 11:44:26 +0200 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-10-13 11:44:26 +0200 |
commit | 1dc9569e31717aefab8e05b858122f433dab1698 (patch) | |
tree | 1367e5dcbdb785a4fd2c34c936a9f780b565e3e6 /src/systemcmds/tests | |
parent | 42b75ae8963b2f711a72ac1cb6cfd1b44bd826b2 (diff) | |
download | px4-firmware-1dc9569e31717aefab8e05b858122f433dab1698.tar.gz px4-firmware-1dc9569e31717aefab8e05b858122f433dab1698.tar.bz2 px4-firmware-1dc9569e31717aefab8e05b858122f433dab1698.zip |
Fixed mixer chunk load and line ending detection for good.
Diffstat (limited to 'src/systemcmds/tests')
-rw-r--r-- | src/systemcmds/tests/test_mixer.cpp | 129 |
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; } |