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Merge branch 'mixer_test_merge' of github.com:PX4/Firmware

This commit is contained in:
Lorenz Meier 2013-10-13 22:34:24 +02:00
parent f475ffda04 b3fb2bf850
commit 16efc0d2d9
19 changed files with 519 additions and 96 deletions
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2
Tools/tests-host/.gitignore vendored Normal file
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@ -0,0 +1,2 @@
./obj/*
mixer_test

39
Tools/tests-host/Makefile Normal file
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@ -0,0 +1,39 @@
CC=g++
CFLAGS=-I. -I../../src/modules -I ../../src/include -I../../src/drivers -I../../src -D__EXPORT="" -Dnullptr="0"
ODIR=obj
LDIR =../lib
LIBS=-lm
#_DEPS = test.h
#DEPS = $(patsubst %,$(IDIR)/%,$(_DEPS))
_OBJ = mixer_test.o test_mixer.o mixer_simple.o mixer_multirotor.o mixer.o mixer_group.o mixer_load.o
OBJ = $(patsubst %,$(ODIR)/%,$(_OBJ))
#$(DEPS)
$(ODIR)/%.o: %.cpp
$(CC) -c -o $@ $< $(CFLAGS)
$(ODIR)/%.o: ../../src/systemcmds/tests/%.cpp
$(CC) -c -o $@ $< $(CFLAGS)
$(ODIR)/%.o: ../../src/modules/systemlib/%.cpp
$(CC) -c -o $@ $< $(CFLAGS)
$(ODIR)/%.o: ../../src/modules/systemlib/mixer/%.cpp
$(CC) -c -o $@ $< $(CFLAGS)
$(ODIR)/%.o: ../../src/modules/systemlib/mixer/%.c
$(CC) -c -o $@ $< $(CFLAGS)
#
mixer_test: $(OBJ)
g++ -o $@ $^ $(CFLAGS) $(LIBS)
.PHONY: clean
clean:
rm -f $(ODIR)/*.o *~ core $(INCDIR)/*~

0
Tools/tests-host/arch/board/board.h Normal file
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12
Tools/tests-host/mixer_test.cpp Normal file
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@ -0,0 +1,12 @@
#include <systemlib/mixer/mixer.h>
#include <systemlib/err.h>
#include "../../src/systemcmds/tests/tests.h"
int main(int argc, char *argv[]) {
warnx("Host execution started");
char* args[] = {argv[0], "../../ROMFS/px4fmu_common/mixers/IO_pass.mix",
"../../ROMFS/px4fmu_common/mixers/FMU_quad_w.mix"};
test_mixer(3, args);
}

0
Tools/tests-host/nuttx/config.h Normal file
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29
src/modules/systemlib/mixer/mixer.cpp
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@ -50,6 +50,8 @@
#include <stdio.h>
#include <math.h>
#include <unistd.h>
#include <ctype.h>
#include <systemlib/err.h>
#include "mixer.h"
@ -114,6 +116,33 @@ Mixer::scale_check(struct mixer_scaler_s &scaler)
return 0;
}
const char *
Mixer::findtag(const char *buf, unsigned &buflen, char tag)
{
while (buflen >= 2) {
if ((buf[0] == tag) && (buf[1] == ':'))
return buf;
buf++;
buflen--;
}
return nullptr;
}
const char *
Mixer::skipline(const char *buf, unsigned &buflen)
{
const char *p;
/* if we can find a CR or NL in the buffer, skip up to it */
if ((p = (const char *)memchr(buf, '\r', buflen)) || (p = (const char *)memchr(buf, '\n', buflen))) {
/* skip up to it AND one beyond - could be on the NUL symbol now */
buflen -= (p - buf) + 1;
return p + 1;
}
return nullptr;
}
/****************************************************************************/
NullMixer::NullMixer() :

25
src/modules/systemlib/mixer/mixer.h
View File

@ -128,7 +128,9 @@
#ifndef _SYSTEMLIB_MIXER_MIXER_H
#define _SYSTEMLIB_MIXER_MIXER_H value
#include <nuttx/config.h>
#include "drivers/drv_mixer.h"
#include "mixer_load.h"
/**
* Abstract class defining a mixer mixing zero or more inputs to
@ -210,6 +212,24 @@ protected:
*/
static int scale_check(struct mixer_scaler_s &scaler);
/**
* Find a tag
*
* @param buf The buffer to operate on.
* @param buflen length of the buffer.
* @param tag character to search for.
*/
static const char * findtag(const char *buf, unsigned &buflen, char tag);
/**
* Skip a line
*
* @param buf The buffer to operate on.
* @param buflen length of the buffer.
* @return 0 / OK if a line could be skipped, 1 else
*/
static const char * skipline(const char *buf, unsigned &buflen);
private:
};
@ -238,6 +258,11 @@ public:
*/
void reset();
/**
* Count the mixers in the group.
*/
unsigned count();
/**
* Adds mixers to the group based on a text description in a buffer.
*

15
src/modules/systemlib/mixer/mixer_group.cpp
View File

@ -111,6 +111,20 @@ MixerGroup::mix(float *outputs, unsigned space)
return index;
}
unsigned
MixerGroup::count()
{
Mixer *mixer = _first;
unsigned index = 0;
while ((mixer != nullptr)) {
mixer = mixer->_next;
index++;
}
return index;
}
void
MixerGroup::groups_required(uint32_t &groups)
{
@ -170,6 +184,7 @@ MixerGroup::load_from_buf(const char *buf, unsigned &buflen)
/* only adjust buflen if parsing was successful */
buflen = resid;
debug("SUCCESS - buflen: %d", buflen);
} else {
/*

100
src/modules/systemlib/mixer/mixer_load.c Normal file
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@ -0,0 +1,100 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file mixer_load.c
*
* Programmable multi-channel mixer library.
*/
#include <nuttx/config.h>
#include <string.h>
#include <stdio.h>
#include <ctype.h>
#include "mixer_load.h"
int load_mixer_file(const char *fname, char *buf, unsigned maxlen)
{
FILE *fp;
char line[120];
/* open the mixer definition file */
fp = fopen(fname, "r");
if (fp == NULL) {
return 1;
}
/* read valid lines from the file into a buffer */
buf[0] = '\0';
for (;;) {
/* get a line, bail on error/EOF */
line[0] = '\0';
if (fgets(line, sizeof(line), fp) == NULL)
break;
/* if the line doesn't look like a mixer definition line, skip it */
if ((strlen(line) < 2) || !isupper(line[0]) || (line[1] != ':'))
continue;
/* compact whitespace in the buffer */
char *t, *f;
for (f = line; *f != '\0'; f++) {
/* scan for space characters */
if (*f == ' ') {
/* look for additional spaces */
t = f + 1;
while (*t == ' ')
t++;
if (*t == '\0') {
/* strip trailing whitespace */
*f = '\0';
} else if (t > (f + 1)) {
memmove(f + 1, t, strlen(t) + 1);
}
}
}
/* if the line is too long to fit in the buffer, bail */
if ((strlen(line) + strlen(buf) + 1) >= maxlen) {
return 1;
}
/* add the line to the buffer */
strcat(buf, line);
}
return 0;
}

51
src/modules/systemlib/mixer/mixer_load.h Normal file
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@ -0,0 +1,51 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file mixer_load.h
*
*/
#ifndef _SYSTEMLIB_MIXER_LOAD_H
#define _SYSTEMLIB_MIXER_LOAD_H value
#include <nuttx/config.h>
__BEGIN_DECLS
__EXPORT int load_mixer_file(const char *fname, char *buf, unsigned maxlen);
__END_DECLS
#endif

14
src/modules/systemlib/mixer/mixer_multirotor.cpp
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@ -130,7 +130,7 @@ const MultirotorMixer::Rotor _config_octa_plus[] = {
{ 1.000000, 0.000000, -1.00 },
{ -1.000000, 0.000000, -1.00 },
};
const MultirotorMixer::Rotor *_config_index[MultirotorMixer::Geometry::MAX_GEOMETRY] = {
const MultirotorMixer::Rotor *_config_index[MultirotorMixer::MAX_GEOMETRY] = {
&_config_quad_x[0],
&_config_quad_plus[0],
&_config_quad_v[0],
@ -140,7 +140,7 @@ const MultirotorMixer::Rotor *_config_index[MultirotorMixer::Geometry::MAX_GEOME
&_config_octa_x[0],
&_config_octa_plus[0],
};
const unsigned _config_rotor_count[MultirotorMixer::Geometry::MAX_GEOMETRY] = {
const unsigned _config_rotor_count[MultirotorMixer::MAX_GEOMETRY] = {
4, /* quad_x */
4, /* quad_plus */
4, /* quad_v */
@ -205,11 +205,17 @@ MultirotorMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handl
}
if (used > (int)buflen) {
debug("multirotor spec used %d of %u", used, buflen);
debug("OVERFLOW: multirotor spec used %d of %u", used, buflen);
return nullptr;
}
buflen -= used;
buf = skipline(buf, buflen);
if (buf == nullptr) {
debug("no line ending, line is incomplete");
return nullptr;
}
debug("remaining in buf: %d, first char: %c", buflen, buf[0]);
if (!strcmp(geomname, "4+")) {
geometry = MultirotorMixer::QUAD_PLUS;

62
src/modules/systemlib/mixer/mixer_simple.cpp
View File

@ -55,7 +55,7 @@
#include "mixer.h"
#define debug(fmt, args...) do { } while(0)
// #define debug(fmt, args...) do { printf("[mixer] " fmt "\n", ##args); } while(0)
//#define debug(fmt, args...) do { printf("[mixer] " fmt "\n", ##args); } while(0)
SimpleMixer::SimpleMixer(ControlCallback control_cb,
uintptr_t cb_handle,
@ -71,28 +71,6 @@ SimpleMixer::~SimpleMixer()
free(_info);
}
static const char *
findtag(const char *buf, unsigned &buflen, char tag)
{
while (buflen >= 2) {
if ((buf[0] == tag) && (buf[1] == ':'))
return buf;
buf++;
buflen--;
}
return nullptr;
}
static void
skipline(const char *buf, unsigned &buflen)
{
const char *p;
/* if we can find a CR or NL in the buffer, skip up to it */
if ((p = (const char *)memchr(buf, '\r', buflen)) || (p = (const char *)memchr(buf, '\n', buflen)))
buflen -= (p - buf);
}
int
SimpleMixer::parse_output_scaler(const char *buf, unsigned &buflen, mixer_scaler_s &scaler)
{
@ -111,7 +89,12 @@ SimpleMixer::parse_output_scaler(const char *buf, unsigned &buflen, mixer_scaler
debug("out scaler parse failed on '%s' (got %d, consumed %d)", buf, ret, n);
return -1;
}
skipline(buf, buflen);
buf = skipline(buf, buflen);
if (buf == nullptr) {
debug("no line ending, line is incomplete");
return -1;
}
scaler.negative_scale = s[0] / 10000.0f;
scaler.positive_scale = s[1] / 10000.0f;
@ -130,7 +113,7 @@ SimpleMixer::parse_control_scaler(const char *buf, unsigned &buflen, mixer_scale
buf = findtag(buf, buflen, 'S');
if ((buf == nullptr) || (buflen < 16)) {
debug("contorl parser failed finding tag, ret: '%s'", buf);
debug("control parser failed finding tag, ret: '%s'", buf);
return -1;
}
@ -139,7 +122,12 @@ SimpleMixer::parse_control_scaler(const char *buf, unsigned &buflen, mixer_scale
debug("control parse failed on '%s'", buf);
return -1;
}
skipline(buf, buflen);
buf = skipline(buf, buflen);
if (buf == nullptr) {
debug("no line ending, line is incomplete");
return -1;
}
control_group = u[0];
control_index = u[1];
@ -161,29 +149,17 @@ SimpleMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handle, c
int used;
const char *end = buf + buflen;
/* enforce that the mixer ends with space or a new line */
for (int i = buflen - 1; i >= 0; i--) {
if (buf[i] == '\0')
continue;
/* require a space or newline at the end of the buffer, fail on printable chars */
if (buf[i] == ' ' || buf[i] == '\n' || buf[i] == '\r') {
/* found a line ending or space, so no split symbols / numbers. good. */
break;
} else {
debug("simple parser rejected: No newline / space at end of buf. (#%d/%d: 0x%02x)", i, buflen-1, buf[i]);
goto out;
}
}
/* get the base info for the mixer */
if (sscanf(buf, "M: %u%n", &inputs, &used) != 1) {
debug("simple parse failed on '%s'", buf);
goto out;
}
buflen -= used;
buf = skipline(buf, buflen);
if (buf == nullptr) {
debug("no line ending, line is incomplete");
goto out;
}
mixinfo = (mixer_simple_s *)malloc(MIXER_SIMPLE_SIZE(inputs));

3
src/modules/systemlib/mixer/module.mk
View File

@ -39,4 +39,5 @@ LIBNAME = mixerlib
SRCS = mixer.cpp \
mixer_group.cpp \
mixer_multirotor.cpp \
mixer_simple.cpp
mixer_simple.cpp \
mixer_load.c

55
src/systemcmds/mixer/mixer.c → src/systemcmds/mixer/mixer.cpp
View File

@ -47,10 +47,15 @@
#include <nuttx/compiler.h>
#include <systemlib/err.h>
#include <drivers/drv_mixer.h>
#include <systemlib/mixer/mixer.h>
#include <uORB/topics/actuator_controls.h>
__EXPORT int mixer_main(int argc, char *argv[]);
/**
* Mixer utility for loading mixer files to devices
*
* @ingroup apps
*/
extern "C" __EXPORT int mixer_main(int argc, char *argv[]);
static void usage(const char *reason) noreturn_function;
static void load(const char *devname, const char *fname) noreturn_function;
@ -87,8 +92,6 @@ static void
load(const char *devname, const char *fname)
{
int dev;
FILE *fp;
char line[120];
char buf[2048];
/* open the device */
@ -99,49 +102,7 @@ load(const char *devname, const char *fname)
if (ioctl(dev, MIXERIOCRESET, 0))
err(1, "can't reset mixers on %s", devname);
/* open the mixer definition file */
fp = fopen(fname, "r");
if (fp == NULL)
err(1, "can't open %s", fname);
/* read valid lines from the file into a buffer */
buf[0] = '\0';
for (;;) {
/* get a line, bail on error/EOF */
line[0] = '\0';
if (fgets(line, sizeof(line), fp) == NULL)
break;
/* if the line doesn't look like a mixer definition line, skip it */
if ((strlen(line) < 2) || !isupper(line[0]) || (line[1] != ':'))
continue;
/* compact whitespace in the buffer */
char *t, *f;
for (f = buf; *f != '\0'; f++) {
/* scan for space characters */
if (*f == ' ') {
/* look for additional spaces */
t = f + 1;
while (*t == ' ')
t++;
if (*t == '\0') {
/* strip trailing whitespace */
*f = '\0';
} else if (t > (f + 1)) {
memmove(f + 1, t, strlen(t) + 1);
}
}
}
/* if the line is too long to fit in the buffer, bail */
if ((strlen(line) + strlen(buf) + 1) >= sizeof(buf))
break;
/* add the line to the buffer */
strcat(buf, line);
}
load_mixer_file(fname, &buf[0], sizeof(buf));
/* XXX pass the buffer to the device */
int ret = ioctl(dev, MIXERIOCLOADBUF, (unsigned long)buf);

2
src/systemcmds/mixer/module.mk
View File

@ -36,7 +36,7 @@
#
MODULE_COMMAND = mixer
SRCS = mixer.c
SRCS = mixer.cpp
MODULE_STACKSIZE = 4096

1
src/systemcmds/tests/module.mk
View File

@ -23,6 +23,7 @@ SRCS = test_adc.c \
test_uart_console.c \
test_uart_loopback.c \
test_uart_send.c \
test_mixer.cpp \
tests_file.c \
tests_main.c \
tests_param.c

199
src/systemcmds/tests/test_mixer.cpp Normal file
View File

@ -0,0 +1,199 @@
/****************************************************************************
*
* Copyright (c) 2013 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file test_mixer.hpp
*
* Mixer load test
*/
#include <nuttx/config.h>
#include <sys/types.h>
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <fcntl.h>
#include <errno.h>
#include <string.h>
#include <time.h>
#include <systemlib/err.h>
#include <systemlib/mixer/mixer.h>
#include "tests.h"
static int mixer_callback(uintptr_t handle,
uint8_t control_group,
uint8_t control_index,
float &control);
int test_mixer(int argc, char *argv[])
{
warnx("testing mixer");
char *filename = "/etc/mixers/IO_pass.mix";
if (argc > 1)
filename = argv[1];
warnx("loading: %s", filename);
char buf[2048];
load_mixer_file(filename, &buf[0], sizeof(buf));
unsigned loaded = strlen(buf);
warnx("loaded: \n\"%s\"\n (%d chars)", &buf[0], loaded);
/* load the mixer in chunks, like
* in the case of a remote load,
* e.g. on PX4IO.
*/
unsigned nused = 0;
const unsigned chunk_size = 64;
MixerGroup mixer_group(mixer_callback, 0);
/* load at once test */
unsigned xx = loaded;
mixer_group.load_from_buf(&buf[0], xx);
warnx("complete buffer load: loaded %u mixers", mixer_group.count());
if (mixer_group.count() != 8)
return 1;
unsigned empty_load = 2;
char empty_buf[2];
empty_buf[0] = ' ';
empty_buf[1] = '\0';
mixer_group.reset();
mixer_group.load_from_buf(&empty_buf[0], empty_load);
warnx("empty buffer load: loaded %u mixers, used: %u", mixer_group.count(), empty_load);
if (empty_load != 0)
return 1;
/* FIRST mark the mixer as invalid */
bool mixer_ok = false;
/* THEN actually delete it */
mixer_group.reset();
char mixer_text[256]; /* large enough for one mixer */
unsigned mixer_text_length = 0;
unsigned transmitted = 0;
warnx("transmitted: %d, loaded: %d", transmitted, loaded);
while (transmitted < loaded) {
unsigned text_length = (loaded - transmitted > chunk_size) ? chunk_size : loaded - transmitted;
/* check for overflow - this would be really fatal */
if ((mixer_text_length + text_length + 1) > sizeof(mixer_text)) {
bool mixer_ok = false;
return 1;
}
/* append mixer text and nul-terminate */
memcpy(&mixer_text[mixer_text_length], &buf[transmitted], text_length);
mixer_text_length += text_length;
mixer_text[mixer_text_length] = '\0';
warnx("buflen %u, text:\n\"%s\"", mixer_text_length, &mixer_text[0]);
/* process the text buffer, adding new mixers as their descriptions can be parsed */
unsigned resid = mixer_text_length;
mixer_group.load_from_buf(&mixer_text[0], resid);
/* if anything was parsed */
if (resid != mixer_text_length) {
/* only set mixer ok if no residual is left over */
if (resid == 0) {
mixer_ok = true;
} else {
/* not yet reached the end of the mixer, set as not ok */
mixer_ok = false;
}
warnx("used %u", mixer_text_length - resid);
/* copy any leftover text to the base of the buffer for re-use */
if (resid > 0)
memcpy(&mixer_text[0], &mixer_text[mixer_text_length - resid], resid);
mixer_text_length = resid;
}
transmitted += text_length;
}
warnx("chunked load: loaded %u mixers", mixer_group.count());
if (mixer_group.count() != 8)
return 1;
/* load multirotor at once test */
mixer_group.reset();
if (argc > 2)
filename = argv[2];
else
filename = "/etc/mixers/FMU_quad_w.mix";
load_mixer_file(filename, &buf[0], sizeof(buf));
loaded = strlen(buf);
warnx("loaded: \n\"%s\"\n (%d chars)", &buf[0], loaded);
unsigned mc_loaded = loaded;
mixer_group.load_from_buf(&buf[0], mc_loaded);
warnx("complete buffer load: loaded %u mixers", mixer_group.count());
if (mixer_group.count() != 8)
return 1;
}
static int
mixer_callback(uintptr_t handle,
uint8_t control_group,
uint8_t control_index,
float &control)
{
if (control_group != 0)
return -1;
control = 0.0f;
return 0;
}

5
src/systemcmds/tests/tests.h
View File

@ -76,6 +76,8 @@
* Public Function Prototypes
****************************************************************************/
__BEGIN_DECLS
extern int test_sensors(int argc, char *argv[]);
extern int test_gpio(int argc, char *argv[]);
extern int test_hrt(int argc, char *argv[]);
@ -98,5 +100,8 @@ extern int test_jig_voltages(int argc, char *argv[]);
extern int test_param(int argc, char *argv[]);
extern int test_bson(int argc, char *argv[]);
extern int test_file(int argc, char *argv[]);
extern int test_mixer(int argc, char *argv[]);
__END_DECLS
#endif /* __APPS_PX4_TESTS_H */

1
src/systemcmds/tests/tests_main.c
View File

@ -110,6 +110,7 @@ const struct {
{"param", test_param, 0},
{"bson", test_bson, 0},
{"file", test_file, 0},
{"mixer", test_mixer, OPT_NOJIGTEST | OPT_NOALLTEST},
{"help", test_help, OPT_NOALLTEST | OPT_NOHELP | OPT_NOJIGTEST},
{NULL, NULL, 0}
};