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Fixed mixer chunk load and line ending detection for good.

This commit is contained in:
Lorenz Meier 2013-10-13 11:44:26 +02:00
parent 42b75ae896
commit 1dc9569e31
9 changed files with 229 additions and 56 deletions
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27
src/modules/systemlib/mixer/mixer.cpp
View File

@ -116,6 +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() :

23
src/modules/systemlib/mixer/mixer.h
View File

@ -212,6 +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:
};
@ -240,6 +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 {
/*

15
src/modules/systemlib/mixer/mixer_load.c
View File

@ -38,22 +38,22 @@
*/
#include <nuttx/config.h>
#include <systemlib/err.h>
#include <string.h>
#include <stdio.h>
#include <ctype.h>
#include "mixer_load.h"
int load_mixer_file(const char *fname, char *buf)
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)
err(1, "can't open %s", fname);
if (fp == NULL) {
return 1;
}
/* read valid lines from the file into a buffer */
buf[0] = '\0';
@ -70,7 +70,7 @@ int load_mixer_file(const char *fname, char *buf)
/* compact whitespace in the buffer */
char *t, *f;
for (f = buf; *f != '\0'; f++) {
for (f = line; *f != '\0'; f++) {
/* scan for space characters */
if (*f == ' ') {
/* look for additional spaces */
@ -87,8 +87,9 @@ int load_mixer_file(const char *fname, char *buf)
}
/* if the line is too long to fit in the buffer, bail */
if ((strlen(line) + strlen(buf) + 1) >= sizeof(buf))
break;
if ((strlen(line) + strlen(buf) + 1) >= maxlen) {
return 1;
}
/* add the line to the buffer */
strcat(buf, line);

2
src/modules/systemlib/mixer/mixer_load.h
View File

@ -44,7 +44,7 @@
__BEGIN_DECLS
__EXPORT int load_mixer_file(const char *fname, char *buf);
__EXPORT int load_mixer_file(const char *fname, char *buf, unsigned maxlen);
__END_DECLS

10
src/modules/systemlib/mixer/mixer_multirotor.cpp
View File

@ -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));

2
src/systemcmds/mixer/mixer.cpp
View File

@ -102,7 +102,7 @@ load(const char *devname, const char *fname)
if (ioctl(dev, MIXERIOCRESET, 0))
err(1, "can't reset mixers on %s", devname);
load_mixer_file(fname, &buf[0]);
load_mixer_file(fname, &buf[0], sizeof(buf));
/* XXX pass the buffer to the device */
int ret = ioctl(dev, MIXERIOCLOADBUF, (unsigned long)buf);

129
src/systemcmds/tests/test_mixer.cpp
View File

@ -46,6 +46,7 @@
#include <unistd.h>
#include <fcntl.h>
#include <errno.h>
#include <string.h>
#include <time.h>
#include <systemlib/err.h>
@ -53,6 +54,11 @@
#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");
@ -66,9 +72,128 @@ int test_mixer(int argc, char *argv[])
char buf[2048];
load_mixer_file(filename, &buf[0]);
load_mixer_file(filename, &buf[0], sizeof(buf));
unsigned loaded = strlen(buf);
warnx("loaded: %s", &buf[0]);
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;
}