mirror of https://github.com/ArduPilot/ardupilot
143 lines
6.0 KiB
C++
143 lines
6.0 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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Printf.cpp: We demonstrate the use of the printf() and snprintf() functions
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*/
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#include <AP_Common/AP_Common.h>
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#include <AP_HAL/AP_HAL.h>
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void setup(); // declaration of the setup() function
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void loop(); // declaration of the loop() function
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const AP_HAL::HAL& hal = AP_HAL::get_HAL(); // create a reference to AP_HAL::HAL object to get access to hardware specific functions. For more info see <https://ardupilot.org/dev/docs/learning-ardupilot-the-example-sketches.html/>
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// the setup function runs once when the board powers up
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void setup(void) {
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hal.console->printf("Starting Printf test\n"); // print a starting message
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}
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//create a struct array float_tests
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static const struct {
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// holds the char sequence representing the format specifier
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const char *fmt;
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// holds a float value
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float v;
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// holds the char sequence that would be printed in accordance with the format specifier defined(fmt)
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const char *result;
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} float_tests[] = {
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{ "%f", 3.71f, "3.710000" },
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{ "%.1f", 3.71f, "3.7" },
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{ "%.1f", 3.75f, "3.8" },
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{ "%.2f", 3.75f, "3.75" },
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{ "%.7f", 3.75f, "3.750000" },
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{ "%f", 10.4f, "10.40000" },
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{ "%f", 10.6f, "10.60000" },
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{ "%f", 1020.4f, "1020.400" },
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{ "%f", 1030.6f, "1030.600" },
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{ "%f", 10.123456f, "10.12346" },
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{ "%f", 102.123456f, "102.1235" },
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{ "%f", 1020.123456f, "1020.123" },
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{ "%.6f", 10.123456f, "10.12346" },
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{ "%.6f", 102.123456f, "102.1235" },
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{ "%.6f", 1020.123456f, "1020.123" },
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{ "%f", 10304052.6f, "1.030405e+07" },
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{ "%f", 103040501.6f, "1.030405e+08" },
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{ "%f", 1030405023.6f, "1.030405e+09" },
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{ "%f", -1030.6f, "-1030.600" },
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{ "%f", -10304052.6f, "-1.030405e+07" },
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{ "%f", -103040501.6f, "-1.030405e+08" },
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{ "%f", -1030405023.6f, "-1.030405e+09" },
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{ "%e", 103040501.6f, "1.030405e+08" },
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{ "%g", 103040501.6f, "1.03041e+08" },
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{ "%e", -103040501.6f, "-1.030405e+08" },
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{ "%g", -103040501.6f, "-1.03041e+08" },
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{ "%.0f", 10.4f, "10" },
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{ "%.0f", 10.6f, "11" },
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{ "%.1f", 10.4f, "10.4" },
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{ "%.1f", 10.6f, "10.6" },
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};
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// test_printf_floats(void) : tests the printf() and snprintf() function against the float numbers defined in float_tests
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static void test_printf_floats(void)
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{
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hal.console->printf("Starting Printf floats test\n");
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uint8_t i;
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// 30 bytes long char buffer(Expected length of string : 29)
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char buf[30];
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uint8_t failures = 0;
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hal.console->printf("Running printf tests\n");
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for (i=0; i < ARRAY_SIZE(float_tests); i++) {
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// create a format string(buf) in accordance with the format specifier and the float values defined for every element of float_tests[]
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int ret = hal.util->snprintf(buf, sizeof(buf), float_tests[i].fmt, (double)float_tests[i].v); //For more info, see : http://www.cplusplus.com/reference/cstdio/snprintf/
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// comparing the results of the snprintf() and results defined in the float_tests[] :
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// 1. check whether the strings are equal or not
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if (strcmp(buf, float_tests[i].result) != 0) {
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hal.console->printf("Failed float_tests[%u] '%s' -> '%s' should be '%s'\n",
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(unsigned)i,
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float_tests[i].fmt,
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buf,
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float_tests[i].result);
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failures++;
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}
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// 2. check whether the len of the strings is equal or not
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if (ret != (int)strlen(float_tests[i].result)) {
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hal.console->printf("Failed float_tests[%u] ret=%d/%d '%s' should be '%s'\n",
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(unsigned)i,
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ret, (int)strlen(float_tests[i].result),
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float_tests[i].fmt,
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float_tests[i].result);
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failures++;
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}
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}
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hal.console->printf("%u failures\n", (unsigned)failures);
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}
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// test_printf_null_termination(void) : tests the printf() and the snprintf() function against a char sequence and whether they consider the terminating null character '\0'
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static void test_printf_null_termination(void)
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{
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hal.console->printf("Starting Printf null-termination tests\n");
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// 10 bytes long char buffer(Expected length of string : 9)
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char buf[10];
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// create a format string(buf) in accordance with "ABCDEABCDE" and length of buf[]
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int ret = hal.util->snprintf(buf,sizeof(buf), "%s", "ABCDEABCDE"); //For more info, see : http://www.cplusplus.com/reference/cstdio/snprintf/
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// store the expected length of string
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const int want = 9;
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// comparing the results of the snprintf() function :
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// 1. check whether the expected length of the string is equal to the buffer(buf) length or not
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if (ret != want) {
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hal.console->printf("snprintf returned %d expected %d\n", ret, want);
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}
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// 2. check whether the buffer(buf) is equal to "ABCDEABCD" or not
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if (!strncmp(buf, "ABCDEABCD", sizeof(buf))) {
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hal.console->printf("Bad snprintf string (%s)\n", buf);
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}
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}
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static void test_printf(void)
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{
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test_printf_floats();
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test_printf_null_termination();
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}
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// the loop function runs over and over again forever
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void loop(void)
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{
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test_printf();
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// give a delay of 1000ms or 1s
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hal.scheduler->delay(1000);
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}
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AP_HAL_MAIN(); // HAL Macro that declares the main function. For more info see <https://ardupilot.org/dev/docs/learning-ardupilot-the-example-sketches.html/>
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