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