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Mission: test exceeding command storage size

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This commit is contained in:
Randy Mackay 2014-03-12 15:15:07 +09:00
parent 9e07070d86
commit 8e117d29eb
1 changed files with 73 additions and 3 deletions
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76
libraries/AP_Mission/examples/AP_Mission_test/AP_Mission_test.pde
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@ -29,6 +29,16 @@
#include <AP_Buffer.h> // ArduPilot general purpose FIFO buffer
#include <GCS_MAVLink.h>
// storage locations equivalent to ArduCopter
// fence points are stored at the end of the EEPROM
#define MAX_FENCEPOINTS 6
#define FENCE_WP_SIZE sizeof(Vector2l)
#define FENCE_START_BYTE (HAL_STORAGE_SIZE_AVAILABLE-(MAX_FENCEPOINTS*FENCE_WP_SIZE))
// parameters get the first 1536 bytes of EEPROM, mission commands are stored between these params and the fence points
#define MISSION_START_BYTE 0x500
#define MISSION_END_BYTE (FENCE_START_BYTE-1)
const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
// INS and Baro declaration
@ -106,7 +116,7 @@ void mission_complete(void)
}
// declaration
AP_Mission mission(ahrs, &start_cmd, &verify_cmd, &mission_complete);
AP_Mission mission(ahrs, &start_cmd, &verify_cmd, &mission_complete, MISSION_START_BYTE, MISSION_END_BYTE);
// setup
void setup(void)
@ -114,9 +124,10 @@ void setup(void)
hal.console->println("AP_Mission library test\n");
// display basic info about command sizes
hal.console->printf_P(PSTR("Max Num Commands: %d\n"),(int)AP_MISSION_MAX_COMMANDS);
hal.console->printf_P(PSTR("Max Num Commands: %d\n"),(int)mission.num_commands_max());
hal.console->printf_P(PSTR("Command size: %d bytes\n"),(int)AP_MISSION_EEPROM_COMMAND_SIZE);
hal.console->printf_P(PSTR("Command start in Eeprom: %x\n"),(int)AP_MISSION_EEPROM_START_BYTE);
hal.console->printf_P(PSTR("Command start in Eeprom: 0x%x\n"),(int)MISSION_START_BYTE);
hal.console->printf_P(PSTR("Command end in Eeprom: 0x%x\n"),(int)MISSION_END_BYTE);
}
// loop
@ -177,6 +188,9 @@ void run_mission_test()
// run_replace_cmd_test - tests replacing a command during a mission
//run_replace_cmd_test();
// run_max_cmd_test - tests filling the eeprom with commands and then reading them back
//run_max_cmd_test();
// print current mission
print_mission();
@ -1162,4 +1176,60 @@ void run_replace_cmd_test()
}
}
// run_max_cmd_test - tests filling the eeprom with commands and then reading them back
void run_max_cmd_test()
{
AP_Mission::Mission_Command cmd;
uint16_t num_commands = 0;
uint16_t i;
bool failed_to_add = false;
bool failed_to_read = false;
bool success = true;
// test adding many commands until it fails
while (!failed_to_add) {
// Command #0 : home
cmd.id = MAV_CMD_NAV_WAYPOINT;
cmd.content.location.options = 0;
cmd.p1 = 0;
cmd.content.location.alt = num_commands;
cmd.content.location.lat = 12345678;
cmd.content.location.lng = 23456789;
if (!mission.add_cmd(cmd)) {
hal.console->printf_P(PSTR("failed to add command #%u, library says max is %u\n"),(unsigned int)num_commands, (unsigned int)mission.num_commands_max());
failed_to_add = true;
}else{
num_commands++;
}
}
// test retrieving commands
for (i=0; i<num_commands; i++) {
if (!mission.read_cmd_from_storage(i,cmd)) {
hal.console->printf_P(PSTR("failed to retrieve command #%u\n"),(unsigned int)i);
failed_to_read = true;
break;
}else{
if (cmd.content.location.alt == i) {
hal.console->printf_P(PSTR("successfully read command #%u\n"),(unsigned int)i);
}else{
hal.console->printf_P(PSTR("cmd #u's alt does not match, expected %u but read %u\n"),(unsigned int)i,(unsigned int)i,(unsigned int)cmd.content.location.alt);
}
}
}
// final success/fail message
if (num_commands != mission.num_commands()) {
hal.console->printf_P(PSTR("\nTest failed! Only wrote %u instead of %u commands"),(unsigned int)i,(unsigned int)mission.num_commands_max());
success = false;
}
if (failed_to_read) {
hal.console->printf_P(PSTR("\nTest failed! Only read %u instead of %u commands"),(unsigned int)i,(unsigned int)mission.num_commands_max());
success = false;
}
if (success) {
hal.console->printf_P(PSTR("\nTest Passed! wrote and read back %u commands\n\n"),(unsigned int)mission.num_commands_max());
}
}
AP_HAL_MAIN();