aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

DataFlash: validate units and multipliers

Browse Source
This commit is contained in:
Peter Barker 2015-12-08 11:21:18 +11:00 committed by Peter Barker
parent 9896e23c36
commit b19f981c07
2 changed files with 81 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

79
libraries/DataFlash/DataFlash.cpp
View File

@ -144,10 +144,33 @@ static uint8_t count_commas(const char *string)
return ret;
}
/// return a unit name given its ID
const char* DataFlash_Class::unit_name(const uint8_t unit_id)
{
for(uint8_t i=0; i<unit_id; i++) {
if (_units[i].ID == unit_id) {
return _units[i].unit;
}
}
return NULL;
}
/// return a multiplier value given its ID
double DataFlash_Class::multiplier_name(const uint8_t multiplier_id)
{
for(uint8_t i=0; i<multiplier_id; i++) {
if (_multipliers[i].ID == multiplier_id) {
return _multipliers[i].multiplier;
}
}
// Should we abort here?
return 1.0f;
}
/// pretty-print field information from a log structure
void DataFlash_Class::dump_structure_field(const struct LogStructure *logstructure, const char *label, const uint8_t fieldnum)
{
::fprintf(stderr, " %s\n", label);
::fprintf(stderr, " %s (%s)*(%f)\n", label, unit_name(logstructure->units[fieldnum]), multiplier_name(logstructure->multipliers[fieldnum]));
}
/// pretty-print log structures
@ -222,6 +245,60 @@ void DataFlash_Class::validate_structures(const struct LogStructure *logstructur
Debug("Calculated message length for (%s) based on format field (%s) does not match structure size (%d != %u)", logstructure->name, logstructure->format, msg_len, logstructure->msg_len);
passed = false;
}
// ensure we have units for each field:
if (strlen(logstructure->units) != fieldcount) {
Debug("fieldcount=%u does not match unitcount=%lu",
fieldcount, strlen(logstructure->units));
passed = false;
}
// ensure we have multipliers for each field
if (strlen(logstructure->multipliers) != fieldcount) {
Debug("fieldcount=%u does not match multipliercount=%lu",
fieldcount, strlen(logstructure->multipliers));
passed = false;
}
// ensure the FMTU messages reference valid units
for (uint8_t j=0; j<strlen(logstructure->units); j++) {
char logunit = logstructure->units[j];
uint8_t k;
for (k=0; k<_num_units; k++) {
if (logunit == _units[k].ID) {
// found this one
break;
}
}
if (k == _num_units) {
Debug("invalid unit=%c", logunit);
passed = false;
}
}
// ensure the FMTU messages reference valid units
for (uint8_t j=0; j<strlen(logstructure->multipliers); j++) {
char logmultiplier = logstructure->multipliers[j];
uint8_t k;
for (k=0; k<_num_multipliers; k++) {
if (logmultiplier == '-') {
// no sensible multiplier
break;
}
if (logmultiplier == '?') {
// currently unknown multiplier....
break;
}
if (logmultiplier == _multipliers[k].ID) {
// found this one
break;
}
}
if (k == _num_multipliers) {
Debug("invalid multiplier=%c", logmultiplier);
passed = false;
}
}
}
if (!passed) {
Debug("Log structures are invalid");

3
libraries/DataFlash/DataFlash.h
View File

@ -72,6 +72,7 @@ public:
// initialisation
void Init(const struct LogStructure *structure, uint8_t num_types);
bool CardInserted(void);
// erase handling
@ -327,6 +328,8 @@ private:
void validate_structures(const struct LogStructure *logstructures, const uint8_t num_types);
void dump_structure_field(const struct LogStructure *logstructure, const char *label, const uint8_t fieldnum);
void dump_structures(const struct LogStructure *logstructures, const uint8_t num_types);
const char* unit_name(const uint8_t unit_id);
double multiplier_name(const uint8_t multiplier_id);
void Log_Write_EKF_Timing(const char *name, uint64_t time_us, const struct ekf_timing &timing);