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AP_Math: Unify from print or println to printf.

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This commit is contained in:
murata 2017-01-21 13:42:36 +09:00 committed by Andrew Tridgell
parent 2643e7e906
commit ec4cce15a1
5 changed files with 24 additions and 24 deletions
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16
libraries/AP_Math/examples/eulers/eulers.cpp
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@ -84,14 +84,14 @@ void test_matrix_eulers(void)
uint8_t i, j, k; uint8_t i, j, k;
uint8_t N = ARRAY_SIZE(angles); uint8_t N = ARRAY_SIZE(angles);
hal.console->println("rotation matrix unit tests\n"); hal.console->printf("rotation matrix unit tests\n\n");
for (i=0; i<N; i++) for (i=0; i<N; i++)
for (j=0; j<N; j++) for (j=0; j<N; j++)
for (k=0; k<N; k++) for (k=0; k<N; k++)
test_euler(angles[i], angles[j], angles[k]); test_euler(angles[i], angles[j], angles[k]);
hal.console->println("tests done\n"); hal.console->printf("tests done\n\n");
} }
static void test_quaternion(float roll, float pitch, float yaw) static void test_quaternion(float roll, float pitch, float yaw)
@ -123,7 +123,7 @@ void test_quaternion_eulers(void)
uint8_t i, j, k; uint8_t i, j, k;
uint8_t N = ARRAY_SIZE(angles); uint8_t N = ARRAY_SIZE(angles);
hal.console->println("quaternion unit tests\n"); hal.console->printf("quaternion unit tests\n\n");
test_quaternion(M_PI/4, 0, 0); test_quaternion(M_PI/4, 0, 0);
test_quaternion(0, M_PI/4, 0); test_quaternion(0, M_PI/4, 0);
@ -148,7 +148,7 @@ void test_quaternion_eulers(void)
for (k=0; k<N; k++) for (k=0; k<N; k++)
test_quaternion(angles[i], angles[j], angles[k]); test_quaternion(angles[i], angles[j], angles[k]);
hal.console->println("tests done\n"); hal.console->printf("tests done\n\n");
} }
@ -183,7 +183,7 @@ void test_conversions(void)
uint8_t i, j, k; uint8_t i, j, k;
uint8_t N = ARRAY_SIZE(angles); uint8_t N = ARRAY_SIZE(angles);
hal.console->println("matrix/quaternion tests\n"); hal.console->printf("matrix/quaternion tests\n\n");
test_conversion(1, 1.1f, 1.2f); test_conversion(1, 1.1f, 1.2f);
test_conversion(1, -1.1f, 1.2f); test_conversion(1, -1.1f, 1.2f);
@ -196,7 +196,7 @@ void test_conversions(void)
for (k=0; k<N; k++) for (k=0; k<N; k++)
test_conversion(angles[i], angles[j], angles[k]); test_conversion(angles[i], angles[j], angles[k]);
hal.console->println("tests done\n"); hal.console->printf("tests done\n\n");
} }
void test_frame_transforms(void) void test_frame_transforms(void)
@ -205,7 +205,7 @@ void test_frame_transforms(void)
Quaternion q; Quaternion q;
Matrix3f m; Matrix3f m;
hal.console->println("frame transform tests\n"); hal.console->printf("frame transform tests\n\n");
q.from_euler(ToRad(45), ToRad(45), ToRad(45)); q.from_euler(ToRad(45), ToRad(45), ToRad(45));
q.normalize(); q.normalize();
@ -285,7 +285,7 @@ void test_matrix_rotate(void)
*/ */
void setup(void) void setup(void)
{ {
hal.console->println("euler unit tests\n"); hal.console->printf("euler unit tests\n\n");
test_conversion(0, M_PI, 0); test_conversion(0, M_PI, 0);

4
libraries/AP_Math/examples/location/location.cpp
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@ -44,7 +44,7 @@ static struct Location location_from_point(Vector2f pt)
static void test_passed_waypoint(void) static void test_passed_waypoint(void)
{ {
hal.console->println("waypoint tests starting"); hal.console->printf("waypoint tests starting\n");
for (uint8_t i=0; i<ARRAY_SIZE(test_points); i++) { for (uint8_t i=0; i<ARRAY_SIZE(test_points); i++) {
struct Location loc = location_from_point(test_points[i].location); struct Location loc = location_from_point(test_points[i].location);
struct Location wp1 = location_from_point(test_points[i].wp1); struct Location wp1 = location_from_point(test_points[i].wp1);
@ -54,7 +54,7 @@ static void test_passed_waypoint(void)
return; return;
} }
} }
hal.console->println("waypoint tests OK"); hal.console->printf("waypoint tests OK\n");
} }
static void test_one_offset(const struct Location &loc, static void test_one_offset(const struct Location &loc,

4
libraries/AP_Math/examples/matrix_alg/matrix_alg.cpp
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@ -147,9 +147,9 @@ static void test_matrix_inverse(void)
void setup(void) void setup(void)
{ {
hal.console->println("Matrix Algebra test\n"); hal.console->printf("Matrix Algebra test\n\n");
test_matrix_inverse(); test_matrix_inverse();
hal.console->println("Matrix Algebra tests done\n"); hal.console->printf("Matrix Algebra tests done\n\n");
} }
void loop(void) {} void loop(void) {}

12
libraries/AP_Math/examples/polygon/polygon.cpp
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@ -63,15 +63,15 @@ void setup(void)
bool all_passed = true; bool all_passed = true;
uint32_t start_time; uint32_t start_time;
hal.console->println("polygon unit tests\n"); hal.console->printf("polygon unit tests\n\n");
if (!Polygon_complete(OBC_boundary, ARRAY_SIZE(OBC_boundary))) { if (!Polygon_complete(OBC_boundary, ARRAY_SIZE(OBC_boundary))) {
hal.console->println("OBC boundary is not complete!"); hal.console->printf("OBC boundary is not complete!\n");
all_passed = false; all_passed = false;
} }
if (Polygon_complete(OBC_boundary, ARRAY_SIZE(OBC_boundary)-1)) { if (Polygon_complete(OBC_boundary, ARRAY_SIZE(OBC_boundary)-1)) {
hal.console->println("Polygon_complete test failed"); hal.console->printf("Polygon_complete test failed\n");
all_passed = false; all_passed = false;
} }
@ -88,9 +88,9 @@ void setup(void)
all_passed = false; all_passed = false;
} }
} }
hal.console->println(all_passed ? "TEST PASSED" : "TEST FAILED"); hal.console->printf("%s\n", all_passed ? "TEST PASSED" : "TEST FAILED");
hal.console->println("Speed test:"); hal.console->printf("Speed test:\n");
start_time = AP_HAL::micros(); start_time = AP_HAL::micros();
for (count=0; count<1000; count++) { for (count=0; count<1000; count++) {
for (i=0; i<ARRAY_SIZE(test_points); i++) { for (i=0; i<ARRAY_SIZE(test_points); i++) {
@ -104,7 +104,7 @@ void setup(void)
} }
hal.console->printf("%u usec/call\n", (unsigned)((AP_HAL::micros() hal.console->printf("%u usec/call\n", (unsigned)((AP_HAL::micros()
- start_time)/(count*ARRAY_SIZE(test_points)))); - start_time)/(count*ARRAY_SIZE(test_points))));
hal.console->println(all_passed ? "ALL TESTS PASSED" : "TEST FAILED"); hal.console->printf("%s\n", all_passed ? "ALL TESTS PASSED" : "TEST FAILED");
} }
void loop(void){} void loop(void){}

12
libraries/AP_Math/examples/rotations/rotations.cpp
View File

@ -22,7 +22,7 @@ static void test_rotation_accuracy(void)
int16_t i; int16_t i;
float rot_angle; float rot_angle;
hal.console->println("\nRotation method accuracy:"); hal.console->printf("\nRotation method accuracy:\n");
// test roll // test roll
for( i=0; i<90; i++ ) { for( i=0; i<90; i++ ) {
@ -150,7 +150,7 @@ static void test_euler(enum Rotation rotation, float roll, float pitch, float ya
static void test_rotate_inverse(void) static void test_rotate_inverse(void)
{ {
hal.console->println("\nrotate inverse test(Vector (1,1,1)):"); hal.console->printf("\nrotate inverse test(Vector (1,1,1)):\n");
Vector3f vec(1.0f,1.0f,1.0f), cmp_vec(1.0f,1.0f,1.0f); Vector3f vec(1.0f,1.0f,1.0f), cmp_vec(1.0f,1.0f,1.0f);
for (enum Rotation r=ROTATION_NONE; for (enum Rotation r=ROTATION_NONE;
r<ROTATION_MAX; r<ROTATION_MAX;
@ -170,7 +170,7 @@ static void test_rotate_inverse(void)
} }
static void test_eulers(void) static void test_eulers(void)
{ {
hal.console->println("euler tests"); hal.console->printf("euler tests\n");
test_euler(ROTATION_NONE, 0, 0, 0); test_euler(ROTATION_NONE, 0, 0, 0);
test_euler(ROTATION_YAW_45, 0, 0, 45); test_euler(ROTATION_YAW_45, 0, 0, 45);
test_euler(ROTATION_YAW_90, 0, 0, 90); test_euler(ROTATION_YAW_90, 0, 0, 90);
@ -231,7 +231,7 @@ static bool have_rotation(const Matrix3f &m)
static void missing_rotations(void) static void missing_rotations(void)
{ {
hal.console->println("testing for missing rotations"); hal.console->printf("testing for missing rotations\n");
uint16_t roll, pitch, yaw; uint16_t roll, pitch, yaw;
for (yaw=0; yaw<360; yaw += 90) for (yaw=0; yaw<360; yaw += 90)
for (pitch=0; pitch<360; pitch += 90) for (pitch=0; pitch<360; pitch += 90)
@ -249,12 +249,12 @@ static void missing_rotations(void)
*/ */
void setup(void) void setup(void)
{ {
hal.console->println("rotation unit tests\n"); hal.console->printf("rotation unit tests\n\n");
test_rotation_accuracy(); test_rotation_accuracy();
test_eulers(); test_eulers();
missing_rotations(); missing_rotations();
test_rotate_inverse(); test_rotate_inverse();
hal.console->println("rotation unit tests done\n"); hal.console->printf("rotation unit tests done\n\n");
} }
void loop(void) {} void loop(void) {}