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Rover: Mission integration for cli test

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This commit is contained in:
Randy Mackay 2014-03-10 17:46:21 +09:00
parent 1a70ffdeee
commit 29340c68bd
1 changed files with 17 additions and 13 deletions
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30
APMrover2/test.pde
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@ -20,6 +20,9 @@ static int8_t test_logging(uint8_t argc, const Menu::arg *argv);
static int8_t test_shell(uint8_t argc, const Menu::arg *argv);
#endif
// forward declaration to keep the compiler happy
static void test_wp_print(const AP_Mission::Mission_Command& cmd);
// Creates a constant array of structs representing menu options
// and stores them in Flash memory, not RAM.
// User enters the string in the console to call the functions on the right.
@ -237,28 +240,29 @@ test_wp(uint8_t argc, const Menu::arg *argv)
{
delay(1000);
cliSerial->printf_P(PSTR("%u waypoints\n"), (unsigned)g.command_total);
cliSerial->printf_P(PSTR("%u waypoints\n"), (unsigned)mission.num_commands());
cliSerial->printf_P(PSTR("Hit radius: %f\n"), g.waypoint_radius);
for(uint8_t i = 0; i <= g.command_total; i++){
struct Location temp = get_cmd_with_index(i);
test_wp_print(&temp, i);
for(uint8_t i = 0; i < mission.num_commands(); i++){
AP_Mission::Mission_Command temp_cmd;
mission.read_cmd_from_storage(i,temp_cmd);
test_wp_print(temp_cmd);
}
return (0);
}
static void
test_wp_print(const struct Location *cmd, uint8_t wp_index)
test_wp_print(const AP_Mission::Mission_Command& cmd)
{
cliSerial->printf_P(PSTR("command #: %d id:%d options:%d p1:%d p2:%ld p3:%ld p4:%ld \n"),
(int)wp_index,
(int)cmd->id,
(int)cmd->options,
(int)cmd->p1,
cmd->alt,
cmd->lat,
cmd->lng);
cliSerial->printf_P(PSTR("command #: %d id:%d options:%d p1:%d p2:%ld p3:%ld p4:%ld \n"),
(int)cmd.index,
(int)cmd.id,
(int)cmd.content.location.options,
(int)cmd.p1,
(long)cmd.content.location.alt,
(long)cmd.content.location.lat,
(long)cmd.content.location.lng);
}
static int8_t