StorageManager: added example sketch

note: this destroys the data

libraries/StorageManager/examples/StorageTest/Makefile

@@ -0,0 +1 @@
+include ../../../../mk/apm.mk

libraries/StorageManager/examples/StorageTest/StorageTest.pde

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+// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+//
+// Simple test for the StorageManager class
+//
+
+#include <stdarg.h>
+#include <AP_Common.h>
+#include <AP_Progmem.h>
+#include <AP_HAL.h>
+#include <AP_HAL_AVR.h>
+#include <AP_HAL_AVR_SITL.h>
+#include <AP_HAL_Linux.h>
+#include <AP_HAL_FLYMAPLE.h>
+#include <AP_HAL_PX4.h>
+#include <AP_HAL_Empty.h>
+#include <AP_Math.h>
+#include <AP_Param.h>
+#include <StorageManager.h>
+#include <AP_ADC.h>
+#include <AP_InertialSensor.h>
+#include <AP_Notify.h>
+#include <AP_GPS.h>
+#include <SITL.h>
+#include <AP_Baro.h>
+#include <Filter.h>
+#include <DataFlash.h>
+#include <GCS_MAVLink.h>
+#include <AP_Mission.h>
+#include <AP_Terrain.h>
+#include <AP_Rally.h>
+#include <AP_AHRS.h>
+#include <AP_Airspeed.h>
+#include <AP_Vehicle.h>
+#include <AP_ADC_AnalogSource.h>
+#include <AP_Compass.h>
+#include <AP_Declination.h>
+#include <AP_NavEKF.h>
+#include <AP_HAL_Linux.h>
+#include <AP_Scheduler.h>
+
+const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
+
+#define DO_INITIALISATION 1
+
+/*
+  instantiate all 4 storage types
+ */
+static StorageAccess all_storage[4] = { 
+    StorageAccess(StorageManager::StorageParam),
+    StorageAccess(StorageManager::StorageMission),
+    StorageAccess(StorageManager::StorageFence),
+    StorageAccess(StorageManager::StorageRally)
+};
+
+/*
+  simple random generator, see http://en.wikipedia.org/wiki/Random_number_generation
+ */
+static uint16_t get_random(void)
+{
+    static uint32_t m_z = 1234;
+    static uint32_t m_w = 76542;
+    m_z = 36969 * (m_z & 65535) + (m_z >> 16);
+    m_w = 18000 * (m_w & 65535) + (m_w >> 16);
+    return ((m_z << 16) + m_w) & 0xFFFF;
+}
+
+/*
+  return a predictable value for an offset
+ */
+static uint8_t pvalue(uint16_t offset)
+{
+    return ((offset * 7) + 13) % 65536;
+}
+
+void setup(void)
+{
+    hal.console->println("StorageTest startup...");
+#if DO_INITIALISATION
+    for (uint8_t type=0; type<4; type++) {
+        const StorageAccess &storage = all_storage[type];
+        hal.console->printf("Init type %u\n", (unsigned)type);
+        for (uint16_t i=0; i<storage.size(); i++) {
+            storage.write_byte(i, pvalue(i));
+        }
+    }
+#endif
+}
+
+void loop(void)
+{
+    static uint32_t count;
+    uint8_t type = get_random() % 4;
+    const StorageAccess &storage = all_storage[type];
+    uint16_t offset = get_random() % storage.size();
+    uint8_t  length = (get_random() & 31);
+    if (offset + length > storage.size()) {
+        length = storage.size() - offset;
+    }
+    if (length == 0) {
+        return;
+    }
+    uint8_t b[length];
+    for (uint8_t i=0; i<length; i++) {
+        b[i] = pvalue(offset+i);
+    }
+
+    if (get_random() % 2 == 1) {
+        if (!storage.write_block(offset, b, length)) {
+            hal.console->printf("write failed at offset %u length %u\n",
+                                (unsigned)offset, (unsigned)length);
+        }
+    } else {
+        uint8_t b2[length];
+        if (!storage.read_block(b2, offset, length)) {
+            hal.console->printf("read failed at offset %u length %u\n",
+                                (unsigned)offset, (unsigned)length);
+        }
+        if (memcmp(b, b2, length) != 0) {
+            hal.console->printf("bad data at offset %u length %u\n",
+                                (unsigned)offset, (unsigned)length);
+        }
+    }
+
+    count++;
+    if (count % 10000 == 0) {
+        hal.console->printf("%u ops\n", count);
+    }
+}
+
+
+
+AP_HAL_MAIN();