Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-23 00:58:37 -04:00
Code Issues Packages Projects Releases Wiki Activity

expanded the VARTest testing to all variables

Browse Source
This commit is contained in:
Andrew Tridgell 2012-02-12 18:23:39 +11:00
parent dff75dba96
commit f2b6895533
2 changed files with 179 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

9
Tools/VARTest/Parameters.pde
View File

@ -124,7 +124,14 @@ static const AP_Param::Info var_info[] PROGMEM = {
static void load_parameters(void)
{
// setup the AP_Var subsystem for storage to EEPROM
AP_Param::setup(var_info, sizeof(var_info)/sizeof(var_info[0]));
if (!AP_Param::setup(var_info, sizeof(var_info)/sizeof(var_info[0]), WP_START_BYTE)) {
// this can only happen on startup, and its a definate coding
// error. Best not to continue so the programmer catches it
while (1) {
Serial.println_P(PSTR("ERROR: Failed to setup AP_Param"));
delay(1000);
}
}
if (!g.format_version.load() ||
g.format_version != Parameters::k_format_version) {

172
Tools/VARTest/VARTest.pde
View File

@ -23,17 +23,23 @@ FastSerialPort0(Serial);
#define SERIAL0_BAUD 115200
#define Debug(fmt, args...) Serial.printf("%s:%d: " fmt "\n", __FUNCTION__, __LINE__ , ##args)
void setup() {
Serial.begin(SERIAL0_BAUD, 128, 128);
load_parameters();
// show some sizes
Serial.printf_P(PSTR("sizeof(RC_Channel)=%u\n"), (unsigned)sizeof(RC_Channel));
Serial.printf_P(PSTR("sizeof(g)=%u\n"), (unsigned)sizeof(g));
Serial.printf_P(PSTR("sizeof(g.throttle_min)=%u\n"), (unsigned)sizeof(g.throttle_min));
Serial.printf_P(PSTR("sizeof(g.channel_roll)=%u\n"), (unsigned)sizeof(g.channel_roll));
Serial.printf_P(PSTR("throttle_max now: %u\n"), (unsigned)g.throttle_max);
// some ad-hoc testing
// try set interfaces
g.throttle_min.set(g.throttle_min+1);
g.throttle_min.save();
@ -43,7 +49,8 @@ void setup() {
// find a variable by name
AP_Param *vp;
vp = AP_Param::find("RLL2SRV_P");
enum ap_var_type type;
vp = AP_Param::find("RLL2SRV_P", &type);
((AP_Float *)vp)->set(23);
Serial.printf_P(PSTR("RLL2SRV_P=%f\n"),
@ -58,8 +65,171 @@ void setup() {
g.channel_roll.radio_min.copy_name(s, sizeof(s));
s[AP_MAX_NAME_SIZE] = 0;
Serial.printf_P(PSTR("RC1_MIN.copy_name()->%s %p\n"), s, &g.channel_roll.radio_min);
// full testing of all variables
uint32_t token;
for (AP_Param *ap = AP_Param::first(&token, &type);
ap;
ap=AP_Param::next(&token, &type)) {
test_variable(ap, type);
}
Serial.println_P(PSTR("All done."));
}
void loop()
{
}
// test all interfaces for a variable
void test_variable(AP_Param *ap, enum ap_var_type type)
{
static uint8_t value;
char s[AP_MAX_NAME_SIZE+1];
value++;
ap->copy_name(s, sizeof(s));
Serial.printf_P(PSTR("Testing variable '%s' of type %u\n"),
s, type);
enum ap_var_type type2;
if (AP_Param::find(s, &type2) != ap ||
type2 != type) {
Debug("find failed");
}
switch (type) {
case AP_PARAM_INT8: {
AP_Int8 *v = (AP_Int8 *)ap;
v->set(value);
if (!v->save()) {
Debug("failed set_and_save");
}
if (!v->load()) {
Debug("failed load");
}
if (v->get() != value) {
Debug("wrong value %u %u", (unsigned)v->get(), value);
}
if (!v->set_and_save(value+1)) {
Debug("failed set_and_save");
}
if (!v->load()) {
Debug("failed load");
}
if (v->vtype != type) {
Debug("wrong type");
}
if (v->get() != value+1) {
Debug("wrong value %u %u", (unsigned)v->get(), value+1);
}
if (*v != value+1) {
Debug("wrong direct value %u %u", (unsigned)v->get(), value+1);
}
*v = value+2;
if (v->get() != value+2) {
Debug("wrong copy assignment value %u %u", (unsigned)v->get(), value+2);
}
break;
}
case AP_PARAM_INT16: {
AP_Int16 *v = (AP_Int16 *)ap;
v->set(value);
if (!v->save()) {
Debug("failed set_and_save");
}
if (!v->load()) {
Debug("failed load");
}
if (v->get() != value) {
Debug("wrong value %u %u", (unsigned)v->get(), value);
}
if (!v->set_and_save(value+1)) {
Debug("failed set_and_save");
}
if (!v->load()) {
Debug("failed load");
}
if (v->vtype != type) {
Debug("wrong type");
}
if (v->get() != value+1) {
Debug("wrong value %u %u", (unsigned)v->get(), value+1);
}
if (*v != value+1) {
Debug("wrong direct value %u %u", (unsigned)v->get(), value+1);
}
*v = value+2;
if (v->get() != value+2) {
Debug("wrong copy assignment value %u %u", (unsigned)v->get(), value+2);
}
break;
}
case AP_PARAM_INT32: {
AP_Int32 *v = (AP_Int32 *)ap;
v->set(value);
if (!v->save()) {
Debug("failed set_and_save");
}
if (!v->load()) {
Debug("failed load");
}
if (v->get() != value) {
Debug("wrong value %u %u", (unsigned)v->get(), value);
}
if (!v->set_and_save(value+1)) {
Debug("failed set_and_save");
}
if (!v->load()) {
Debug("failed load");
}
if (v->vtype != type) {
Debug("wrong type");
}
if (v->get() != value+1) {
Debug("wrong value %u %u", (unsigned)v->get(), value+1);
}
if (*v != value+1) {
Debug("wrong direct value %u %u", (unsigned)v->get(), value+1);
}
*v = value+2;
if (v->get() != value+2) {
Debug("wrong copy assignment value %u %u", (unsigned)v->get(), value+2);
}
break;
}
case AP_PARAM_FLOAT: {
AP_Float *v = (AP_Float *)ap;
v->set(value);
if (!v->save()) {
Debug("failed set_and_save");
}
if (!v->load()) {
Debug("failed load");
}
if (v->get() != value) {
Debug("wrong value %u %u", (unsigned)v->get(), value);
}
if (!v->set_and_save(value+1)) {
Debug("failed set_and_save");
}
if (!v->load()) {
Debug("failed load");
}
if (v->vtype != type) {
Debug("wrong type");
}
if (v->get() != value+1) {
Debug("wrong value %u %u", (unsigned)v->get(), value+1);
}
if (*v != value+1) {
Debug("wrong direct value %u %u", (unsigned)v->get(), value+1);
}
*v = value+2;
if (v->get() != value+2) {
Debug("wrong copy assignment value %u %u", (unsigned)v->get(), value+2);
}
break;
}
default:
break;
}
}