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#include <stdio.h>
#include <string.h>
#include <unistd.h>
#include "../../src/systemcmds/tests/tests.h"
#include <drivers/drv_hrt.h>
#include <px4iofirmware/px4io.h>
#include <systemlib/err.h>
#include <systemlib/mixer/mixer.h>
#include "gtest/gtest.h"
TEST(SBUS2Test, SBUS2)
{
const char *filepath = "testdata/sbus2_r7008SB.txt";
FILE *fp;
fp = fopen(filepath, "rt");
ASSERT_TRUE(fp);
warnx("loading data from: %s", filepath);
float f;
unsigned x;
int ret;
// Trash the first 20 lines
for (unsigned i = 0; i < 20; i++) {
char buf[200];
(void)fgets(buf, sizeof(buf), fp);
}
// Init the parser
uint8_t frame[30];
unsigned partial_frame_count = 0;
uint16_t rc_values[18];
uint16_t num_values;
bool sbus_failsafe;
bool sbus_frame_drop;
uint16_t max_channels = sizeof(rc_values) / sizeof(rc_values[0]);
float last_time = 0;
while (EOF != (ret = fscanf(fp, "%f,%x,,", &f, &x))) {
if (((f - last_time) * 1000 * 1000) > 3000) {
partial_frame_count = 0;
//warnx("FRAME RESET\n\n");
}
frame[partial_frame_count] = x;
partial_frame_count++;
//warnx("%f: 0x%02x, first: 0x%02x, last: 0x%02x, pcount: %u", (double)f, x, frame[0], frame[24], partial_frame_count);
if (partial_frame_count == sizeof(frame)) {
partial_frame_count = 0;
}
last_time = f;
// Pipe the data into the parser
hrt_abstime now = hrt_absolute_time();
//if (partial_frame_count % 25 == 0)
//sbus_parse(now, frame, &partial_frame_count, rc_values, &num_values, &sbus_failsafe, &sbus_frame_drop, max_channels);
}
ASSERT_EQ(ret, EOF);
}
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