Fix AP_Var::load - it has to ask the serialiser, not the unserialiser, for the variable's size.

Fix AP_Float16 - scaling was being done in the wrong direction, and the unserialiser wasn't reporting errors.

Add test cases for the above.


git-svn-id: https://arducopter.googlecode.com/svn/trunk@1696 f9c3cf11-9bcb-44bc-f272-b75c42450872

libraries/AP_Common/AP_Var.cpp

@@ -72,7 +72,7 @@ AP_Var::AP_Var(AP_Var_group *group, Key index, const prog_char *name, Flags flag
     //
     vp = &_grouped_variables;
     while (*vp != NULL) {
-        if ((*vp)->_key > _key) {
+        if ((*vp)->_key >= _key) {
                break;
         }
         vp = &((*vp)->_link);
@@ -212,11 +212,11 @@ bool AP_Var::load(void)
         return false;
     }
 
-    // ask the unserializer how big the variable is
+    // ask the serializer how big the variable is
     //
     // XXX should check size in EEPROM var header too...
     //
-    size = unserialize(NULL, 0);
+    size = serialize(NULL, 0);
 
     // Read the buffer from EEPROM, now that _EEPROM_locate
     // has converted _key into an EEPROM address.
@@ -628,6 +628,8 @@ AP_Var_group::_serialize_unserialize(void *buf, size_t buf_size, bool do_seriali
             debug("unserialize %p -> %u", vp, size);
         }
 
+        // XXX HANDLE ERRORS HERE
+
         // Account for the space that this variable consumes in the buffer
         //
         // We always count the total size, and we always advance the buffer pointer

libraries/AP_Common/AP_Var.h

@@ -865,7 +865,7 @@ public:
         uint16_t *sval = (uint16_t *)buf;
 
         if (size >= sizeof(*sval)) {
-            *sval = _value / 1024.0;    // scale by power of 2, may be more efficient
+            *sval = _value * 1024.0;    // scale by power of 2, may be more efficient
         }
         return sizeof(*sval);
     }
@@ -876,9 +876,10 @@ public:
         uint16_t *sval = (uint16_t *)buf;
 
         if (size >= sizeof(*sval)) {
-            _value = *sval * 1024.0;    // scale by power of 2, may be more efficient
+            _value = (float)*sval / 1024.0;    // scale by power of 2, may be more efficient
+            return sizeof(*sval);
         }
-        return sizeof(*sval);
+        return 0;
     }
 
     // copy operators must be redefined in subclasses to get correct behavior

libraries/AP_Common/examples/AP_Var/AP_Var.pde

@@ -262,6 +262,7 @@ setup(void)
         TEST(var_save_load);
 
         AP_Float    f1(10.0, 1);
+        AP_Float16  f2(1.23, 2);
 
         AP_Var::erase_all();
         REQUIRE(true == f1.save());
@@ -269,6 +270,13 @@ setup(void)
         f1 = 0;
         REQUIRE(true == f1.load());
         REQUIRE(f1 == 10.0);
+
+        REQUIRE(true == f2.save());
+        REQUIRE(f2 == 1.23);
+        f2 = 0;
+        REQUIRE(true == f2.load());
+        REQUIRE(f2 == 1.23);
+
     }
 
     // AP_Var: reload
@@ -309,17 +317,20 @@ setup(void)
 
         AP_Var_group    group(10);
         AP_Float        f1(&group, 0, 10.0);
-        AP_Float        f2(&group, 0, 123.0);
+        AP_Float        f2(&group, 1, 123.0);
         AP_Float        f3(-1.0);
+        AP_Float16      f4(&group, 2, 7);
 
         REQUIRE(true == group.save());
         f1 = 0;
         f2 = 0;
         f3 = 0;
+        f4 = 0;
         REQUIRE(true == group.load());
         REQUIRE(f1 == 10.0);
         REQUIRE(f2 == 123.0);
         REQUIRE(f3 == 0);
+        REQUIRE(f4 == 7);
 
         AP_Var::erase_all();
     }