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restore px4fmu-v2_test

This commit is contained in:
Daniel Agar 2016-04-22 15:15:37 -04:00 committed by Lorenz Meier
parent 848e87ff76
commit 2bc74fd5d9
16 changed files with 818 additions and 369 deletions
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5
Makefile
View File

@ -136,6 +136,9 @@ px4fmu-v1_default:
px4fmu-v2_default:
$(call cmake-build,nuttx_px4fmu-v2_default)
px4fmu-v2_test:
$(call cmake-build,nuttx_px4fmu-v2_test)
px4fmu-v4_default:
$(call cmake-build,nuttx_px4fmu-v4_default)
@ -222,7 +225,7 @@ ifeq ($(VECTORCONTROL),1)
@(rm -rf vectorcontrol && git clone --quiet --depth 1 https://github.com/thiemar/vectorcontrol.git && cd vectorcontrol && BOARD=s2740vc_1_0 make --silent --no-print-directory && BOARD=px4esc_1_6 make --silent --no-print-directory && ../Tools/uavcan_copy.sh)
endif
check: check_px4fmu-v1_default check_px4fmu-v2_default check_px4fmu-v2_ekf2 check_px4fmu-v2_lpe check_px4fmu-v4_default_and_uavcan check_mindpx-v2_default check_px4-stm32f4discovery_default check_posix_sitl_default check_unittest check_format
check: check_px4fmu-v1_default check_px4fmu-v2_default check_px4fmu-v2_test check_px4fmu-v2_ekf2 check_px4fmu-v2_lpe check_px4fmu-v4_default_and_uavcan check_mindpx-v2_default check_px4-stm32f4discovery_default check_posix_sitl_default check_unittest check_format
check_format:
$(call colorecho,"Checking formatting with astyle")

201
ROMFS/px4fmu_test/init.d/rc.sensors Normal file
View File

@ -0,0 +1,201 @@
#!nsh
#
# Standard startup script for PX4FMU v1, v2, v3, v4 onboard sensor drivers.
#
if ver hwcmp PX4FMU_V1
then
if ms5611 start
then
fi
else
# Configure all I2C buses to 100 KHz as they
# are all external or slow
fmu i2c 1 100000
fmu i2c 2 100000
if ms5611 -s start
then
fi
# Blacksheep telemetry
if bst start
then
fi
fi
if adc start
then
fi
if ver hwcmp PX4FMU_V2
then
# External I2C bus
if hmc5883 -C -T -X start
then
fi
# External I2C bus
if lis3mdl -X start
then
fi
# Internal I2C bus
if hmc5883 -C -T -I -R 4 start
then
fi
# external MPU6K is rotated 180 degrees yaw
if mpu6000 -X -R 4 start
then
set BOARD_FMUV3 true
else
set BOARD_FMUV3 false
fi
if [ $BOARD_FMUV3 == true ]
then
# external L3GD20H is rotated 180 degrees yaw
if l3gd20 -X -R 4 start
then
fi
# external LSM303D is rotated 270 degrees yaw
if lsm303d -X -R 6 start
then
fi
# internal MPU6000 is rotated 180 deg roll, 270 deg yaw
if mpu6000 -R 14 start
then
fi
if hmc5883 -C -T -S -R 8 start
then
fi
if meas_airspeed start -b 2
then
fi
else
# FMUv2
if mpu6000 start
then
fi
if l3gd20 start
then
fi
if lsm303d start
then
fi
fi
fi
if ver hwcmp PX4FMU_V4
then
# External I2C bus
if hmc5883 -C -T -X start
then
fi
if lis3mdl -R 2 start
then
fi
# Internal SPI bus is rotated 90 deg yaw
if hmc5883 -C -T -S -R 2 start
then
fi
# Internal SPI bus ICM-20608-G is rotated 90 deg yaw
if mpu6000 -R 2 -T 20608 start
then
fi
# Internal SPI bus mpu9250 is rotated 90 deg yaw
if mpu9250 -R 2 start
then
fi
fi
if ver hwcmp PX4FMU_V1
then
# FMUv1
if mpu6000 start
then
fi
if l3gd20 start
then
fi
# MAG selection
if param compare SENS_EXT_MAG 2
then
if hmc5883 -C -I start
then
fi
else
# Use only external as primary
if param compare SENS_EXT_MAG 1
then
if hmc5883 -C -X start
then
fi
else
# auto-detect the primary, prefer external
if hmc5883 start
then
fi
fi
fi
fi
if ver hwcmp MINDPX_V2
then
if mpu6500 start
then
fi
if lsm303d start
then
fi
if l3gd20 start
then
fi
# External I2C bus
if hmc5883 -C -T -X start
then
fi
if lis3mdl -R 2 start
then
fi
fi
if meas_airspeed start
then
else
if ets_airspeed start
then
else
if ets_airspeed start -b 1
then
fi
fi
fi
if sf10a start
then
fi
# Wait 20 ms for sensors (because we need to wait for the HRT and work queue callbacks to fire)
usleep 20000
if sensors start
then
fi

87
ROMFS/px4fmu_test/init.d/rcS
View File

@ -116,11 +116,19 @@ else
set unit_test_failure_list "${unit_test_failure_list} mavlink_tests"
fi
if commander_tests
# TODO: commander_tests is currently broken
#if commander_tests
#then
#else
# set unit_test_failure 1
# set unit_test_failure_list "${unit_test_failure_list} commander_tests"
#fi
if controllib_test
then
else
set unit_test_failure 1
set unit_test_failure_list "${unit_test_failure_list} commander_tests"
set unit_test_failure_list "${unit_test_failure_list} controllib_tests"
fi
if uorb test
@ -130,77 +138,10 @@ else
set unit_test_failure_list "${unit_test_failure_list} uorb_tests"
fi
# Start all sensors on all boards
ms5611 start
adc start
if mpu6000 -X start
then
fi
if mpu6000 start
then
fi
if l3gd20 -X start
then
fi
if l3gd20 start
then
fi
# MAG selection
if param compare SENS_EXT_MAG 2
then
if hmc5883 -I start
then
fi
else
# Use only external as primary
if param compare SENS_EXT_MAG 1
then
if hmc5883 -X start
then
fi
else
# auto-detect the primary, prefer external
if hmc5883 start
then
fi
fi
fi
if ver hwcmp PX4FMU_V2
then
if lsm303d -X start
then
fi
if lsm303d start
then
fi
if ms5611 -X start
then
fi
fi
if meas_airspeed start
then
else
if ets_airspeed start
then
else
if ets_airspeed start -b 1
then
fi
fi
fi
if sensors start
then
fi
#
# Sensors System (start before Commander so Preflight checks are properly run)
#
sh /etc/init.d/rc.sensors
# Check for flow sensor
if px4flow start

1
Tools/check_code_style_all.sh
View File

@ -26,6 +26,7 @@ find \
src/modules/gpio_led \
src/modules/land_detector \
src/modules/local_position_estimator \
src/modules/mavlink/mavlink_tests \
src/modules/muorb \
src/modules/param \
src/modules/px4iofirmware \

2
Tools/px_process_airframes.py
View File

@ -71,7 +71,7 @@ def main():
const="",
metavar="BOARD",
help="Board to create airframes xml for")
parser.add_argument("-v", "--verbose", help="verbose output")
parser.add_argument('-v', '--verbose', action='store_true', help="verbose output")
args = parser.parse_args()
# Check for valid command

2
Tools/px_process_params.py
View File

@ -107,7 +107,7 @@ def main():
metavar="SUMMARY",
default="Automagically updated parameter documentation from code.",
help="DokuWiki page edit summary")
parser.add_argument("-v", "--verbose", help="verbose output")
parser.add_argument('-v', '--verbose', action='store_true', help="verbose output")
args = parser.parse_args()
# Check for valid command

202
cmake/configs/nuttx_px4fmu-v2_test.cmake Normal file
View File

@ -0,0 +1,202 @@
include(nuttx/px4_impl_nuttx)
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
set(config_uavcan_num_ifaces 2)
set(config_module_list
#
# Board support modules
#
drivers/device
drivers/stm32
drivers/stm32/adc
drivers/stm32/tone_alarm
drivers/led
drivers/px4fmu
drivers/px4io
drivers/boards/px4fmu-v2
drivers/rgbled
drivers/mpu6000
#drivers/mpu9250
drivers/lsm303d
drivers/l3gd20
drivers/hmc5883
drivers/ms5611
#drivers/mb12xx
drivers/srf02
drivers/sf0x
drivers/ll40ls
drivers/trone
drivers/gps
drivers/pwm_out_sim
#drivers/hott
#drivers/hott/hott_telemetry
#drivers/hott/hott_sensors
drivers/blinkm
drivers/airspeed
drivers/ets_airspeed
drivers/meas_airspeed
drivers/frsky_telemetry
modules/sensors
#drivers/mkblctrl
drivers/px4flow
#drivers/oreoled
drivers/gimbal
drivers/pwm_input
drivers/camera_trigger
drivers/bst
drivers/snapdragon_rc_pwm
drivers/lis3mdl
#
# System commands
#
systemcmds/bl_update
systemcmds/mixer
systemcmds/param
systemcmds/perf
systemcmds/pwm
systemcmds/esc_calib
systemcmds/reboot
#systemcmds/topic_listener
systemcmds/top
systemcmds/config
systemcmds/nshterm
systemcmds/mtd
systemcmds/dumpfile
systemcmds/ver
#
# Testing
#
modules/commander/commander_tests
modules/controllib_test
modules/mavlink/mavlink_tests
modules/unit_test
systemcmds/tests
#
# General system control
#
modules/commander
modules/navigator
modules/mavlink
modules/gpio_led
modules/uavcan
modules/land_detector
#
# Estimation modules (EKF/ SO3 / other filters)
#
# Too high RAM usage due to static allocations
# modules/attitude_estimator_ekf
modules/attitude_estimator_q
modules/ekf_att_pos_estimator
modules/position_estimator_inav
#
# Vehicle Control
#
# modules/segway # XXX Needs GCC 4.7 fix
modules/fw_pos_control_l1
modules/fw_att_control
modules/mc_att_control
modules/mc_pos_control
modules/vtol_att_control
#
# Logging
#
modules/sdlog2
#
# Library modules
#
modules/param
modules/systemlib
modules/systemlib/mixer
modules/uORB
modules/dataman
#
# Libraries
#
lib/controllib
lib/mathlib
lib/mathlib/math/filter
lib/ecl
lib/external_lgpl
lib/geo
lib/geo_lookup
lib/conversion
lib/launchdetection
lib/terrain_estimation
lib/runway_takeoff
lib/tailsitter_recovery
platforms/nuttx
# had to add for cmake, not sure why wasn't in original config
platforms/common
platforms/nuttx/px4_layer
#
# OBC challenge
#
#modules/bottle_drop
#
# Rover apps
#
#examples/rover_steering_control
#
# Demo apps
#
#examples/math_demo
# Tutorial code from
# https://px4.io/dev/px4_simple_app
#examples/px4_simple_app
# Tutorial code from
# https://px4.io/dev/daemon
#examples/px4_daemon_app
# Tutorial code from
# https://px4.io/dev/debug_values
#examples/px4_mavlink_debug
# Tutorial code from
# https://px4.io/dev/example_fixedwing_control
#examples/fixedwing_control
# Hardware test
#examples/hwtest
)
set(config_extra_builtin_cmds
serdis
sercon
)
set(config_io_board
px4io-v2
)
set(config_extra_libs
uavcan
uavcan_stm32_driver
)
set(config_io_extra_libs
)
add_custom_target(sercon)
set_target_properties(sercon PROPERTIES
PRIORITY "SCHED_PRIORITY_DEFAULT"
MAIN "sercon" STACK_MAIN "2048")
add_custom_target(serdis)
set_target_properties(serdis PROPERTIES
PRIORITY "SCHED_PRIORITY_DEFAULT"
MAIN "serdis" STACK_MAIN "2048")

11
src/firmware/nuttx/CMakeLists.txt
View File

@ -45,16 +45,21 @@ if(NOT ${BOARD} STREQUAL "sim")
if (config_io_board)
set(extras "${CMAKE_BINARY_DIR}/src/modules/px4iofirmware/${config_io_board}.bin")
endif()
set(romfs_dir "ROMFS/px4fmu_common")
if (${BOARD} STREQUAL "px4fmu-v2" AND ${LABEL} STREQUAL "test")
set(romfs_dir "ROMFS/px4fmu_test")
endif()
px4_nuttx_add_romfs(OUT romfs
ROOT ROMFS/px4fmu_common
ROOT ${romfs_dir}
EXTRAS ${extras}
)
if (config_io_board)
add_dependencies(romfs fw_io)
endif()
set(fw_file
${CMAKE_CURRENT_BINARY_DIR}/${OS}-${BOARD}-${LABEL}.px4)
set(fw_file ${CMAKE_CURRENT_BINARY_DIR}/${OS}-${BOARD}-${LABEL}.px4)
px4_nuttx_add_firmware(OUT ${fw_file}
BOARD ${BOARD}

6
src/modules/commander/commander.cpp
View File

@ -509,9 +509,7 @@ int commander_main(int argc, char *argv[])
warnx("argument %s unsupported.", argv[2]);
}
if (TRANSITION_DENIED == main_state_transition(&status, new_main_state, main_state_prev,
&status_flags, &internal_state)) {
;
if (TRANSITION_DENIED == main_state_transition(&status, new_main_state, main_state_prev, &status_flags, &internal_state)) {
warnx("mode change failed");
}
return 0;
@ -1260,7 +1258,7 @@ int commander_thread_main(int argc, char *argv[])
// We want to accept RC inputs as default
status_flags.rc_input_blocked = false;
status.rc_input_mode = vehicle_status_s::RC_IN_MODE_DEFAULT;
internal_state.main_state =commander_state_s::MAIN_STATE_MANUAL;
internal_state.main_state = commander_state_s::MAIN_STATE_MANUAL;
main_state_prev = commander_state_s::MAIN_STATE_MAX;
status.nav_state = vehicle_status_s::NAVIGATION_STATE_MANUAL;
status.arming_state = vehicle_status_s::ARMING_STATE_INIT;

98
src/modules/commander/commander_tests/state_machine_helper_test.cpp
View File

@ -268,9 +268,11 @@ bool StateMachineHelperTest::armingStateTransitionTest(void)
{ vehicle_status_s::ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, TRANSITION_DENIED },
};
struct vehicle_status_s status;
struct safety_s safety;
struct actuator_armed_s armed;
struct vehicle_status_s status = {};
struct status_flags_s status_flags = {};
struct safety_s safety = {};
struct actuator_armed_s armed = {};
struct battery_status_s battery = {};
size_t cArmingTransitionTests = sizeof(rgArmingTransitionTests) / sizeof(rgArmingTransitionTests[0]);
for (size_t i=0; i<cArmingTransitionTests; i++) {
@ -278,17 +280,21 @@ bool StateMachineHelperTest::armingStateTransitionTest(void)
// Setup initial machine state
status.arming_state = test->current_state.arming_state;
status.condition_system_sensors_initialized = test->condition_system_sensors_initialized;
status_flags.condition_system_sensors_initialized = test->condition_system_sensors_initialized;
status.hil_state = test->hil_state;
// The power status of the test unit is not relevant for the unit test
status.circuit_breaker_engaged_power_check = true;
status_flags.circuit_breaker_engaged_power_check = true;
safety.safety_switch_available = test->safety_switch_available;
safety.safety_off = test->safety_off;
armed.armed = test->current_state.armed;
armed.ready_to_arm = test->current_state.ready_to_arm;
// Attempt transition
transition_result_t result = arming_state_transition(&status, &safety, test->requested_state, &armed, false /* no pre-arm checks */, nullptr /* no mavlink_log_pub */);
transition_result_t result = arming_state_transition(&status, &battery, &safety, test->requested_state, &armed,
false /* no pre-arm checks */,
nullptr /* no mavlink_log_pub */,
&status_flags,
5.0f);
// Validate result of transition
ut_assert(test->assertMsg, test->expected_transition_result == result);
@ -304,10 +310,10 @@ bool StateMachineHelperTest::mainStateTransitionTest(void)
{
// This structure represent a single test case for testing Main State transitions.
typedef struct {
const char* assertMsg; // Text to show when test case fails
uint8_t condition_bits; // Bits for various condition_* values
main_state_t from_state; // State prior to transition request
main_state_t to_state; // State to transition to
const char* assertMsg; // Text to show when test case fails
uint8_t condition_bits; // Bits for various condition_* values
uint8_t from_state; // State prior to transition request
main_state_t to_state; // State to transition to
transition_result_t expected_transition_result; // Expected result from main_state_transition call
} MainTransitionTest_t;
@ -325,99 +331,99 @@ bool StateMachineHelperTest::mainStateTransitionTest(void)
{ "no transition: identical states",
MTT_ALL_NOT_VALID,
vehicle_status_s::MAIN_STATE_MANUAL, vehicle_status_s::MAIN_STATE_MANUAL, TRANSITION_NOT_CHANGED },
commander_state_s::MAIN_STATE_MANUAL, commander_state_s::MAIN_STATE_MANUAL, TRANSITION_NOT_CHANGED },
// TRANSITION_CHANGED tests
{ "transition: MANUAL to ACRO",
MTT_ALL_NOT_VALID,
vehicle_status_s::MAIN_STATE_MANUAL, vehicle_status_s::MAIN_STATE_ACRO, TRANSITION_CHANGED },
commander_state_s::MAIN_STATE_MANUAL, commander_state_s::MAIN_STATE_ACRO, TRANSITION_CHANGED },
{ "transition: ACRO to MANUAL",
MTT_ALL_NOT_VALID,
vehicle_status_s::MAIN_STATE_ACRO, vehicle_status_s::MAIN_STATE_MANUAL, TRANSITION_CHANGED },
commander_state_s::MAIN_STATE_ACRO, commander_state_s::MAIN_STATE_MANUAL, TRANSITION_CHANGED },
{ "transition: MANUAL to AUTO_MISSION - global position valid, home position valid",
MTT_GLOBAL_POS_VALID | MTT_HOME_POS_VALID,
vehicle_status_s::MAIN_STATE_MANUAL, vehicle_status_s::MAIN_STATE_AUTO_MISSION, TRANSITION_CHANGED },
commander_state_s::MAIN_STATE_MANUAL, commander_state_s::MAIN_STATE_AUTO_MISSION, TRANSITION_CHANGED },
{ "transition: AUTO_MISSION to MANUAL - global position valid, home position valid",
MTT_GLOBAL_POS_VALID | MTT_HOME_POS_VALID,
vehicle_status_s::MAIN_STATE_AUTO_MISSION, vehicle_status_s::MAIN_STATE_MANUAL, TRANSITION_CHANGED },
commander_state_s::MAIN_STATE_AUTO_MISSION, commander_state_s::MAIN_STATE_MANUAL, TRANSITION_CHANGED },
{ "transition: MANUAL to AUTO_LOITER - global position valid",
MTT_GLOBAL_POS_VALID,
vehicle_status_s::MAIN_STATE_MANUAL, vehicle_status_s::MAIN_STATE_AUTO_LOITER, TRANSITION_CHANGED },
commander_state_s::MAIN_STATE_MANUAL, commander_state_s::MAIN_STATE_AUTO_LOITER, TRANSITION_CHANGED },
{ "transition: AUTO_LOITER to MANUAL - global position valid",
MTT_GLOBAL_POS_VALID,
vehicle_status_s::MAIN_STATE_AUTO_LOITER, vehicle_status_s::MAIN_STATE_MANUAL, TRANSITION_CHANGED },
commander_state_s::MAIN_STATE_AUTO_LOITER, commander_state_s::MAIN_STATE_MANUAL, TRANSITION_CHANGED },
{ "transition: MANUAL to AUTO_RTL - global position valid, home position valid",
MTT_GLOBAL_POS_VALID | MTT_HOME_POS_VALID,
vehicle_status_s::MAIN_STATE_MANUAL, vehicle_status_s::MAIN_STATE_AUTO_RTL, TRANSITION_CHANGED },
commander_state_s::MAIN_STATE_MANUAL, commander_state_s::MAIN_STATE_AUTO_RTL, TRANSITION_CHANGED },
{ "transition: AUTO_RTL to MANUAL - global position valid, home position valid",
MTT_GLOBAL_POS_VALID | MTT_HOME_POS_VALID,
vehicle_status_s::MAIN_STATE_AUTO_RTL, vehicle_status_s::MAIN_STATE_MANUAL, TRANSITION_CHANGED },
commander_state_s::MAIN_STATE_AUTO_RTL, commander_state_s::MAIN_STATE_MANUAL, TRANSITION_CHANGED },
{ "transition: MANUAL to ALTCTL - not rotary",
MTT_ALL_NOT_VALID,
vehicle_status_s::MAIN_STATE_MANUAL, vehicle_status_s::MAIN_STATE_ALTCTL, TRANSITION_CHANGED },
commander_state_s::MAIN_STATE_MANUAL, commander_state_s::MAIN_STATE_ALTCTL, TRANSITION_CHANGED },
{ "transition: MANUAL to ALTCTL - rotary, global position not valid, local altitude valid",
MTT_ROTARY_WING | MTT_LOC_ALT_VALID,
vehicle_status_s::MAIN_STATE_MANUAL, vehicle_status_s::MAIN_STATE_ALTCTL, TRANSITION_CHANGED },
commander_state_s::MAIN_STATE_MANUAL, commander_state_s::MAIN_STATE_ALTCTL, TRANSITION_CHANGED },
{ "transition: MANUAL to ALTCTL - rotary, global position valid, local altitude not valid",
MTT_ROTARY_WING | MTT_GLOBAL_POS_VALID,
vehicle_status_s::MAIN_STATE_MANUAL, vehicle_status_s::MAIN_STATE_ALTCTL, TRANSITION_CHANGED },
commander_state_s::MAIN_STATE_MANUAL, commander_state_s::MAIN_STATE_ALTCTL, TRANSITION_CHANGED },
{ "transition: ALTCTL to MANUAL - local altitude valid",
MTT_LOC_ALT_VALID,
vehicle_status_s::MAIN_STATE_ALTCTL, vehicle_status_s::MAIN_STATE_MANUAL, TRANSITION_CHANGED },
commander_state_s::MAIN_STATE_ALTCTL, commander_state_s::MAIN_STATE_MANUAL, TRANSITION_CHANGED },
{ "transition: MANUAL to POSCTL - local position not valid, global position valid",
MTT_GLOBAL_POS_VALID,
vehicle_status_s::MAIN_STATE_MANUAL, vehicle_status_s::MAIN_STATE_POSCTL, TRANSITION_CHANGED },
commander_state_s::MAIN_STATE_MANUAL, commander_state_s::MAIN_STATE_POSCTL, TRANSITION_CHANGED },
{ "transition: MANUAL to POSCTL - local position valid, global position not valid",
MTT_LOC_POS_VALID,
vehicle_status_s::MAIN_STATE_MANUAL, vehicle_status_s::MAIN_STATE_POSCTL, TRANSITION_CHANGED },
commander_state_s::MAIN_STATE_MANUAL, commander_state_s::MAIN_STATE_POSCTL, TRANSITION_CHANGED },
{ "transition: POSCTL to MANUAL - local position valid, global position valid",
MTT_LOC_POS_VALID,
vehicle_status_s::MAIN_STATE_POSCTL, vehicle_status_s::MAIN_STATE_MANUAL, TRANSITION_CHANGED },
commander_state_s::MAIN_STATE_POSCTL, commander_state_s::MAIN_STATE_MANUAL, TRANSITION_CHANGED },
// TRANSITION_DENIED tests
{ "no transition: MANUAL to AUTO_MISSION - global position not valid",
MTT_ALL_NOT_VALID,
vehicle_status_s::MAIN_STATE_MANUAL, vehicle_status_s::MAIN_STATE_AUTO_MISSION, TRANSITION_DENIED },
commander_state_s::MAIN_STATE_MANUAL, commander_state_s::MAIN_STATE_AUTO_MISSION, TRANSITION_DENIED },
{ "no transition: MANUAL to AUTO_LOITER - global position not valid",
MTT_ALL_NOT_VALID,
vehicle_status_s::MAIN_STATE_MANUAL, vehicle_status_s::MAIN_STATE_AUTO_LOITER, TRANSITION_DENIED },
commander_state_s::MAIN_STATE_MANUAL, commander_state_s::MAIN_STATE_AUTO_LOITER, TRANSITION_DENIED },
{ "no transition: MANUAL to AUTO_RTL - global position not valid, home position not valid",
MTT_ALL_NOT_VALID,
vehicle_status_s::MAIN_STATE_MANUAL, vehicle_status_s::MAIN_STATE_AUTO_RTL, TRANSITION_DENIED },
commander_state_s::MAIN_STATE_MANUAL, commander_state_s::MAIN_STATE_AUTO_RTL, TRANSITION_DENIED },
{ "no transition: MANUAL to AUTO_RTL - global position not valid, home position valid",
MTT_HOME_POS_VALID,
vehicle_status_s::MAIN_STATE_MANUAL, vehicle_status_s::MAIN_STATE_AUTO_RTL, TRANSITION_DENIED },
commander_state_s::MAIN_STATE_MANUAL, commander_state_s::MAIN_STATE_AUTO_RTL, TRANSITION_DENIED },
{ "no transition: MANUAL to AUTO_RTL - global position valid, home position not valid",
MTT_GLOBAL_POS_VALID,
vehicle_status_s::MAIN_STATE_MANUAL, vehicle_status_s::MAIN_STATE_AUTO_RTL, TRANSITION_DENIED },
commander_state_s::MAIN_STATE_MANUAL, commander_state_s::MAIN_STATE_AUTO_RTL, TRANSITION_DENIED },
{ "no transition: MANUAL to ALTCTL - rotary, global position not valid, local altitude not valid",
MTT_ROTARY_WING,
vehicle_status_s::MAIN_STATE_MANUAL, vehicle_status_s::MAIN_STATE_ALTCTL, TRANSITION_DENIED },
commander_state_s::MAIN_STATE_MANUAL, commander_state_s::MAIN_STATE_ALTCTL, TRANSITION_DENIED },
{ "no transition: MANUAL to POSCTL - local position not valid, global position not valid",
MTT_ALL_NOT_VALID,
vehicle_status_s::MAIN_STATE_MANUAL, vehicle_status_s::MAIN_STATE_POSCTL, TRANSITION_DENIED },
commander_state_s::MAIN_STATE_MANUAL, commander_state_s::MAIN_STATE_POSCTL, TRANSITION_DENIED },
};
size_t cMainTransitionTests = sizeof(rgMainTransitionTests) / sizeof(rgMainTransitionTests[0]);
@ -425,24 +431,30 @@ bool StateMachineHelperTest::mainStateTransitionTest(void)
const MainTransitionTest_t* test = &rgMainTransitionTests[i];
// Setup initial machine state
struct vehicle_status_s current_state;
current_state.main_state = test->from_state;
current_state.is_rotary_wing = test->condition_bits & MTT_ROTARY_WING;
current_state.condition_local_altitude_valid = test->condition_bits & MTT_LOC_ALT_VALID;
current_state.condition_local_position_valid = test->condition_bits & MTT_LOC_POS_VALID;
current_state.condition_home_position_valid = test->condition_bits & MTT_HOME_POS_VALID;
current_state.condition_global_position_valid = test->condition_bits & MTT_GLOBAL_POS_VALID;
struct vehicle_status_s current_vehicle_status = {};
struct commander_state_s current_commander_state = {};
struct status_flags_s current_status_flags = {};
uint8_t main_state_prev = 0;
current_commander_state.main_state = test->from_state;
current_vehicle_status.is_rotary_wing = test->condition_bits & MTT_ROTARY_WING;
current_status_flags.condition_local_altitude_valid = test->condition_bits & MTT_LOC_ALT_VALID;
current_status_flags.condition_local_position_valid = test->condition_bits & MTT_LOC_POS_VALID;
current_status_flags.condition_home_position_valid = test->condition_bits & MTT_HOME_POS_VALID;
current_status_flags.condition_global_position_valid = test->condition_bits & MTT_GLOBAL_POS_VALID;
// Attempt transition
transition_result_t result = main_state_transition(&current_state, test->to_state);
transition_result_t result = main_state_transition(&current_vehicle_status, test->to_state, main_state_prev,
&current_status_flags, &current_commander_state);
// Validate result of transition
ut_assert(test->assertMsg, test->expected_transition_result == result);
if (test->expected_transition_result == result) {
if (test->expected_transition_result == TRANSITION_CHANGED) {
ut_assert(test->assertMsg, test->to_state == current_state.main_state);
ut_assert(test->assertMsg, test->to_state == current_commander_state.main_state);
} else {
ut_assert(test->assertMsg, test->from_state == current_state.main_state);
ut_assert(test->assertMsg, test->from_state == current_commander_state.main_state);
}
}
}

44
src/modules/controllib_test/test_params.c
View File

@ -4,19 +4,63 @@
// you want to recompute the
// answers for all of the unit tests
/**
* @group Testing
*/
PARAM_DEFINE_FLOAT(TEST_MIN, -1.0f);
/**
* @group Testing
*/
PARAM_DEFINE_FLOAT(TEST_MAX, 1.0f);
/**
* @group Testing
*/
PARAM_DEFINE_FLOAT(TEST_TRIM, 0.5f);
/**
* @group Testing
*/
PARAM_DEFINE_FLOAT(TEST_HP, 10.0f);
/**
* @group Testing
*/
PARAM_DEFINE_FLOAT(TEST_LP, 10.0f);
/**
* @group Testing
*/
PARAM_DEFINE_FLOAT(TEST_P, 0.2f);
/**
* @group Testing
*/
PARAM_DEFINE_FLOAT(TEST_I, 0.1f);
/**
* @group Testing
*/
PARAM_DEFINE_FLOAT(TEST_I_MAX, 1.0f);
/**
* @group Testing
*/
PARAM_DEFINE_FLOAT(TEST_D, 0.01f);
/**
* @group Testing
*/
PARAM_DEFINE_FLOAT(TEST_D_LP, 10.0f);
/**
* @group Testing
*/
PARAM_DEFINE_FLOAT(TEST_MEAN, 1.0f);
/**
* @group Testing
*/
PARAM_DEFINE_FLOAT(TEST_DEV, 2.0f);

1
src/modules/mavlink/mavlink_tests/CMakeLists.txt
View File

@ -35,7 +35,6 @@ px4_add_module(
MAIN mavlink_tests
STACK_MAIN 5000
COMPILE_FLAGS
-Weffc++
-DMAVLINK_FTP_UNIT_TEST
-Wno-attributes
-Wno-packed

445
src/modules/mavlink/mavlink_tests/mavlink_ftp_test.cpp
View File

@ -61,7 +61,7 @@ MavlinkFtpTest::MavlinkFtpTest() :
MavlinkFtpTest::~MavlinkFtpTest()
{
}
/// @brief Called before every test to initialize the FTP Server.
@ -78,7 +78,7 @@ void MavlinkFtpTest::_init(void)
void MavlinkFtpTest::_cleanup(void)
{
delete _ftp_server;
_cleanup_microsd();
}
@ -87,20 +87,21 @@ bool MavlinkFtpTest::_ack_test(void)
{
MavlinkFTP::PayloadHeader payload;
const MavlinkFTP::PayloadHeader *reply;
payload.opcode = MavlinkFTP::kCmdNone;
bool success = _send_receive_msg(&payload, // FTP payload header
0, // size in bytes of data
nullptr, // Data to start into FTP message payload
&reply); // Payload inside FTP message response
if (!success) {
return false;
}
ut_compare("Didn't get Ack back", reply->opcode, MavlinkFTP::kRspAck);
ut_compare("Incorrect payload size", reply->size, 0);
return true;
}
@ -109,21 +110,22 @@ bool MavlinkFtpTest::_bad_opcode_test(void)
{
MavlinkFTP::PayloadHeader payload;
const MavlinkFTP::PayloadHeader *reply;
payload.opcode = 0xFF; // bogus opcode
bool success = _send_receive_msg(&payload, // FTP payload header
0, // size in bytes of data
nullptr, // Data to start into FTP message payload
&reply); // Payload inside FTP message response
if (!success) {
return false;
}
ut_compare("Didn't get Nak back", reply->opcode, MavlinkFTP::kRspNak);
ut_compare("Incorrect payload size", reply->size, 1);
ut_compare("Incorrect error code", reply->data[0], MavlinkFTP::kErrUnknownCommand);
return true;
}
@ -133,24 +135,25 @@ bool MavlinkFtpTest::_bad_datasize_test(void)
mavlink_message_t msg;
MavlinkFTP::PayloadHeader payload;
const MavlinkFTP::PayloadHeader *reply;
payload.opcode = MavlinkFTP::kCmdListDirectory;
_setup_ftp_msg(&payload, 0, nullptr, &msg);
// Set the data size to be one larger than is legal
((MavlinkFTP::PayloadHeader*)((mavlink_file_transfer_protocol_t*)msg.payload64)->payload)->size = MAVLINK_MSG_FILE_TRANSFER_PROTOCOL_FIELD_PAYLOAD_LEN + 1;
((MavlinkFTP::PayloadHeader *)((mavlink_file_transfer_protocol_t *)msg.payload64)->payload)->size =
MAVLINK_MSG_FILE_TRANSFER_PROTOCOL_FIELD_PAYLOAD_LEN + 1;
_ftp_server->handle_message(&msg);
if (!_decode_message(&_reply_msg, &reply)) {
return false;
}
ut_compare("Didn't get Nak back", reply->opcode, MavlinkFTP::kRspNak);
ut_compare("Incorrect payload size", reply->size, 1);
ut_compare("Incorrect error code", reply->data[0], MavlinkFTP::kErrInvalidDataSize);
return true;
}
@ -158,10 +161,10 @@ bool MavlinkFtpTest::_list_test(void)
{
MavlinkFTP::PayloadHeader payload;
const MavlinkFTP::PayloadHeader *reply;
char response1[] = "Dempty_dir|Ftest_238.data\t238|Ftest_239.data\t239|Ftest_240.data\t240";
char response2[] = "Ddev|Detc|Dfs|Dobj";
struct _testCase {
const char *dir; ///< Directory to run List command on
char *response; ///< Expected response entries from List command
@ -174,56 +177,62 @@ bool MavlinkFtpTest::_list_test(void)
{ "/", response2, 4, true },
};
for (size_t i=0; i<sizeof(rgTestCases)/sizeof(rgTestCases[0]); i++) {
for (size_t i = 0; i < sizeof(rgTestCases) / sizeof(rgTestCases[0]); i++) {
const struct _testCase *test = &rgTestCases[i];
payload.opcode = MavlinkFTP::kCmdListDirectory;
payload.offset = 0;
bool success = _send_receive_msg(&payload, // FTP payload header
strlen(test->dir)+1, // size in bytes of data
(uint8_t*)test->dir, // Data to start into FTP message payload
&reply); // Payload inside FTP message response
strlen(test->dir) + 1, // size in bytes of data
(uint8_t *)test->dir, // Data to start into FTP message payload
&reply); // Payload inside FTP message response
if (!success) {
return false;
}
if (test->success) {
ut_compare("Didn't get Ack back", reply->opcode, MavlinkFTP::kRspAck);
ut_compare("Incorrect payload size", reply->size, strlen(test->response) + 1);
// The return order of directories from the List command is not repeatable. So we can't do a direct comparison
// to a hardcoded return result string.
// Convert null terminators to seperator char so we can use strok to parse returned data
char list_entry[256];
for (uint8_t j=0; j<reply->size-1; j++) {
for (uint8_t j = 0; j < reply->size - 1; j++) {
if (reply->data[j] == 0) {
list_entry[j] = '|';
} else {
list_entry[j] = reply->data[j];
}
}
list_entry[reply->size-1] = 0;
list_entry[reply->size - 1] = 0;
// Loop over returned directory entries trying to find then in the response list
char *dir;
int response_count = 0;
dir = strtok(list_entry, "|");
while (dir != nullptr) {
ut_assert("Returned directory not found in expected response", strstr(test->response, dir));
response_count++;
dir = strtok(nullptr, "|");
}
ut_compare("Incorrect number of directory entires returned", test->response_count, response_count);
} else {
ut_compare("Didn't get Nak back", reply->opcode, MavlinkFTP::kRspNak);
ut_compare("Incorrect payload size", reply->size, 2);
ut_compare("Incorrect error code", reply->data[0], MavlinkFTP::kErrFailErrno);
}
}
return true;
}
@ -234,14 +243,15 @@ bool MavlinkFtpTest::_list_eof_test(void)
MavlinkFTP::PayloadHeader payload;
const MavlinkFTP::PayloadHeader *reply;
const char *dir = "/";
payload.opcode = MavlinkFTP::kCmdListDirectory;
payload.offset = 4; // offset past top level dirs
bool success = _send_receive_msg(&payload, // FTP payload header
strlen(dir)+1, // size in bytes of data
(uint8_t*)dir, // Data to start into FTP message payload
&reply); // Payload inside FTP message response
strlen(dir) + 1, // size in bytes of data
(uint8_t *)dir, // Data to start into FTP message payload
&reply); // Payload inside FTP message response
if (!success) {
return false;
}
@ -249,7 +259,7 @@ bool MavlinkFtpTest::_list_eof_test(void)
ut_compare("Didn't get Nak back", reply->opcode, MavlinkFTP::kRspNak);
ut_compare("Incorrect payload size", reply->size, 1);
ut_compare("Incorrect error code", reply->data[0], MavlinkFTP::kErrEOF);
return true;
}
@ -259,22 +269,23 @@ bool MavlinkFtpTest::_open_badfile_test(void)
MavlinkFTP::PayloadHeader payload;
const MavlinkFTP::PayloadHeader *reply;
const char *dir = "/foo"; // non-existent file
payload.opcode = MavlinkFTP::kCmdOpenFileRO;
payload.offset = 0;
bool success = _send_receive_msg(&payload, // FTP payload header
strlen(dir)+1, // size in bytes of data
(uint8_t*)dir, // Data to start into FTP message payload
&reply); // Payload inside FTP message response
strlen(dir) + 1, // size in bytes of data
(uint8_t *)dir, // Data to start into FTP message payload
&reply); // Payload inside FTP message response
if (!success) {
return false;
}
ut_compare("Didn't get Nak back", reply->opcode, MavlinkFTP::kRspNak);
ut_compare("Incorrect payload size", reply->size, 2);
ut_compare("Incorrect error code", reply->data[0], MavlinkFTP::kErrFailErrno);
return true;
}
@ -283,41 +294,43 @@ bool MavlinkFtpTest::_open_terminate_test(void)
{
MavlinkFTP::PayloadHeader payload;
const MavlinkFTP::PayloadHeader *reply;
for (size_t i=0; i<sizeof(_rgDownloadTestCases)/sizeof(_rgDownloadTestCases[0]); i++) {
for (size_t i = 0; i < sizeof(_rgDownloadTestCases) / sizeof(_rgDownloadTestCases[0]); i++) {
struct stat st;
const DownloadTestCase *test = &_rgDownloadTestCases[i];
payload.opcode = MavlinkFTP::kCmdOpenFileRO;
payload.offset = 0;
bool success = _send_receive_msg(&payload, // FTP payload header
strlen(test->file)+1, // size in bytes of data
(uint8_t*)test->file, // Data to start into FTP message payload
strlen(test->file) + 1, // size in bytes of data
(uint8_t *)test->file, // Data to start into FTP message payload
&reply); // Payload inside FTP message response
if (!success) {
return false;
}
ut_compare("stat failed", stat(test->file, &st), 0);
ut_compare("Didn't get Ack back", reply->opcode, MavlinkFTP::kRspAck);
ut_compare("Incorrect payload size", reply->size, sizeof(uint32_t));
ut_compare("File size incorrect", *((uint32_t*)&reply->data[0]), (uint32_t)st.st_size);
ut_compare("File size incorrect", *((uint32_t *)&reply->data[0]), (uint32_t)st.st_size);
payload.opcode = MavlinkFTP::kCmdTerminateSession;
payload.session = reply->session;
payload.size = 0;
success = _send_receive_msg(&payload, // FTP payload header
0, // size in bytes of data
nullptr, // Data to start into FTP message payload
&reply); // Payload inside FTP message response
if (!success) {
return false;
}
ut_compare("Didn't get Ack back", reply->opcode, MavlinkFTP::kRspAck);
ut_compare("Incorrect payload size", reply->size, 0);
}
@ -331,36 +344,38 @@ bool MavlinkFtpTest::_terminate_badsession_test(void)
MavlinkFTP::PayloadHeader payload;
const MavlinkFTP::PayloadHeader *reply;
const char *file = _rgDownloadTestCases[0].file;
payload.opcode = MavlinkFTP::kCmdOpenFileRO;
payload.offset = 0;
bool success = _send_receive_msg(&payload, // FTP payload header
strlen(file)+1, // size in bytes of data
(uint8_t*)file, // Data to start into FTP message payload
&reply); // Payload inside FTP message response
strlen(file) + 1, // size in bytes of data
(uint8_t *)file, // Data to start into FTP message payload
&reply); // Payload inside FTP message response
if (!success) {
return false;
}
ut_compare("Didn't get Ack back", reply->opcode, MavlinkFTP::kRspAck);
payload.opcode = MavlinkFTP::kCmdTerminateSession;
payload.session = reply->session + 1;
payload.size = 0;
success = _send_receive_msg(&payload, // FTP payload header
0, // size in bytes of data
nullptr, // Data to start into FTP message payload
&reply); // Payload inside FTP message response
0, // size in bytes of data
nullptr, // Data to start into FTP message payload
&reply); // Payload inside FTP message response
if (!success) {
return false;
}
ut_compare("Didn't get Nak back", reply->opcode, MavlinkFTP::kRspNak);
ut_compare("Incorrect payload size", reply->size, 1);
ut_compare("Incorrect error code", reply->data[0], MavlinkFTP::kErrInvalidSession);
return true;
}
@ -369,11 +384,11 @@ bool MavlinkFtpTest::_read_test(void)
{
MavlinkFTP::PayloadHeader payload;
const MavlinkFTP::PayloadHeader *reply;
for (size_t i=0; i<sizeof(_rgDownloadTestCases)/sizeof(_rgDownloadTestCases[0]); i++) {
for (size_t i = 0; i < sizeof(_rgDownloadTestCases) / sizeof(_rgDownloadTestCases[0]); i++) {
struct stat st;
const DownloadTestCase *test = &_rgDownloadTestCases[i];
// Read in the file so we can compare it to what we get back
ut_compare("stat failed", stat(test->file, &st), 0);
uint8_t *bytes = new uint8_t[st.st_size];
@ -383,35 +398,37 @@ bool MavlinkFtpTest::_read_test(void)
int bytes_read = ::read(fd, bytes, st.st_size);
ut_compare("read failed", bytes_read, st.st_size);
::close(fd);
// Test case data files are created for specific boundary conditions
ut_compare("Test case data files are out of date", test->length, st.st_size);
payload.opcode = MavlinkFTP::kCmdOpenFileRO;
payload.offset = 0;
bool success = _send_receive_msg(&payload, // FTP payload header
strlen(test->file)+1, // size in bytes of data
(uint8_t*)test->file, // Data to start into FTP message payload
strlen(test->file) + 1, // size in bytes of data
(uint8_t *)test->file, // Data to start into FTP message payload
&reply); // Payload inside FTP message response
if (!success) {
return false;
}
ut_compare("Didn't get Ack back", reply->opcode, MavlinkFTP::kRspAck);
payload.opcode = MavlinkFTP::kCmdReadFile;
payload.session = reply->session;
payload.offset = 0;
success = _send_receive_msg(&payload, // FTP payload header
0, // size in bytes of data
nullptr, // Data to start into FTP message payload
&reply); // Payload inside FTP message response
if (!success) {
return false;
}
ut_compare("Didn't get Ack back", reply->opcode, MavlinkFTP::kRspAck);
ut_compare("Offset incorrect", reply->offset, 0);
@ -419,29 +436,32 @@ bool MavlinkFtpTest::_read_test(void)
uint32_t expected_bytes = test->singlePacketRead ? (uint32_t)st.st_size : full_packet_bytes;
ut_compare("Payload size incorrect", reply->size, expected_bytes);
ut_compare("File contents differ", memcmp(reply->data, bytes, expected_bytes), 0);
payload.offset += expected_bytes;
if (test->singlePacketRead) {
// Try going past EOF
success = _send_receive_msg(&payload, // FTP payload header
0, // size in bytes of data
nullptr, // Data to start into FTP message payload
&reply); // Payload inside FTP message response
if (!success) {
return false;
}
ut_compare("Didn't get Nak back", reply->opcode, MavlinkFTP::kRspNak);
} else {
success = _send_receive_msg(&payload, // FTP payload header
0, // size in bytes of data
nullptr, // Data to start into FTP message payload
&reply); // Payload inside FTP message response
if (!success) {
return false;
}
ut_compare("Didn't get Ack back", reply->opcode, MavlinkFTP::kRspAck);
ut_compare("Offset incorrect", reply->offset, payload.offset);
@ -449,23 +469,24 @@ bool MavlinkFtpTest::_read_test(void)
ut_compare("Payload size incorrect", reply->size, expected_bytes);
ut_compare("File contents differ", memcmp(reply->data, &bytes[payload.offset], expected_bytes), 0);
}
payload.opcode = MavlinkFTP::kCmdTerminateSession;
payload.session = reply->session;
payload.size = 0;
success = _send_receive_msg(&payload, // FTP payload header
0, // size in bytes of data
nullptr, // Data to start into FTP message payload
&reply); // Payload inside FTP message response
if (!success) {
return false;
}
ut_compare("Didn't get Ack back", reply->opcode, MavlinkFTP::kRspAck);
ut_compare("Incorrect payload size", reply->size, 0);
}
return true;
}
@ -477,11 +498,11 @@ bool MavlinkFtpTest::_burst_test(void)
BurstInfo burst_info;
for (size_t i=0; i<sizeof(_rgDownloadTestCases)/sizeof(_rgDownloadTestCases[0]); i++) {
for (size_t i = 0; i < sizeof(_rgDownloadTestCases) / sizeof(_rgDownloadTestCases[0]); i++) {
struct stat st;
const DownloadTestCase *test = &_rgDownloadTestCases[i];
// Read in the file so we can compare it to what we get back
ut_compare("stat failed", stat(test->file, &st), 0);
uint8_t *bytes = new uint8_t[st.st_size];
@ -491,23 +512,24 @@ bool MavlinkFtpTest::_burst_test(void)
int bytes_read = ::read(fd, bytes, st.st_size);
ut_compare("read failed", bytes_read, st.st_size);
::close(fd);
// Test case data files are created for specific boundary conditions
ut_compare("Test case data files are out of date", test->length, st.st_size);
payload.opcode = MavlinkFTP::kCmdOpenFileRO;
payload.offset = 0;
bool success = _send_receive_msg(&payload, // FTP payload header
strlen(test->file)+1, // size in bytes of data
(uint8_t*)test->file, // Data to start into FTP message payload
strlen(test->file) + 1, // size in bytes of data
(uint8_t *)test->file, // Data to start into FTP message payload
&reply); // Payload inside FTP message response
if (!success) {
return false;
}
ut_compare("Didn't get Ack back", reply->opcode, MavlinkFTP::kRspAck);
// Setup for burst response handler
burst_info.burst_state = burst_state_first_ack;
burst_info.single_packet_file = test->singlePacketRead;
@ -520,7 +542,7 @@ bool MavlinkFtpTest::_burst_test(void)
payload.opcode = MavlinkFTP::kCmdBurstReadFile;
payload.session = reply->session;
payload.offset = 0;
mavlink_message_t msg;
_setup_ftp_msg(&payload, 0, nullptr, &msg);
_ftp_server->handle_message(&msg);
@ -528,29 +550,30 @@ bool MavlinkFtpTest::_burst_test(void)
// First packet is sent using stream mechanism, so we need to force it out ourselves
hrt_abstime t = 0;
_ftp_server->send(t);
ut_compare("Incorrect sequence of messages", burst_info.burst_state, burst_state_complete);
// Put back generic message handler
_ftp_server->set_unittest_worker(MavlinkFtpTest::receive_message_handler_generic, this);
// Terminate session
payload.opcode = MavlinkFTP::kCmdTerminateSession;
payload.session = reply->session;
payload.size = 0;
success = _send_receive_msg(&payload, // FTP payload header
0, // size in bytes of data
nullptr, // Data to start into FTP message payload
&reply); // Payload inside FTP message response
if (!success) {
return false;
}
ut_compare("Didn't get Ack back", reply->opcode, MavlinkFTP::kRspAck);
ut_compare("Incorrect payload size", reply->size, 0);
}
return true;
}
@ -560,36 +583,38 @@ bool MavlinkFtpTest::_read_badsession_test(void)
MavlinkFTP::PayloadHeader payload;
const MavlinkFTP::PayloadHeader *reply;
const char *file = _rgDownloadTestCases[0].file;
payload.opcode = MavlinkFTP::kCmdOpenFileRO;
payload.offset = 0;
bool success = _send_receive_msg(&payload, // FTP payload header
strlen(file)+1, // size in bytes of data
(uint8_t*)file, // Data to start into FTP message payload
strlen(file) + 1, // size in bytes of data
(uint8_t *)file, // Data to start into FTP message payload
&reply); // Payload inside FTP message response
if (!success) {
return false;
}
ut_compare("Didn't get Ack back", reply->opcode, MavlinkFTP::kRspAck);
payload.opcode = MavlinkFTP::kCmdReadFile;
payload.session = reply->session + 1; // Invalid session
payload.offset = 0;
success = _send_receive_msg(&payload, // FTP payload header
0, // size in bytes of data
nullptr, // Data to start into FTP message payload
&reply); // Payload inside FTP message response
if (!success) {
return false;
}
ut_compare("Didn't get Nak back", reply->opcode, MavlinkFTP::kRspNak);
ut_compare("Incorrect payload size", reply->size, 1);
ut_compare("Incorrect error code", reply->data[0], MavlinkFTP::kErrInvalidSession);
return true;
}
@ -598,7 +623,7 @@ bool MavlinkFtpTest::_removedirectory_test(void)
MavlinkFTP::PayloadHeader payload;
const MavlinkFTP::PayloadHeader *reply;
int fd;
struct _testCase {
const char *dir;
bool success;
@ -611,39 +636,41 @@ bool MavlinkFtpTest::_removedirectory_test(void)
{ _unittest_microsd_file, false, false },
{ _unittest_microsd_dir, true, true },
};
ut_compare("mkdir failed", ::mkdir(_unittest_microsd_dir, S_IRWXU | S_IRWXG | S_IRWXO), 0);
ut_assert("open failed", (fd = ::open(_unittest_microsd_file, O_CREAT | O_EXCL)) != -1);
::close(fd);
for (size_t i=0; i<sizeof(rgTestCases)/sizeof(rgTestCases[0]); i++) {
for (size_t i = 0; i < sizeof(rgTestCases) / sizeof(rgTestCases[0]); i++) {
const struct _testCase *test = &rgTestCases[i];
if (test->deleteFile) {
ut_compare("unlink failed", ::unlink(_unittest_microsd_file), 0);
}
payload.opcode = MavlinkFTP::kCmdRemoveDirectory;
payload.offset = 0;
bool success = _send_receive_msg(&payload, // FTP payload header
strlen(test->dir)+1, // size in bytes of data
(uint8_t*)test->dir, // Data to start into FTP message payload
strlen(test->dir) + 1, // size in bytes of data
(uint8_t *)test->dir, // Data to start into FTP message payload
&reply); // Payload inside FTP message response
if (!success) {
return false;
}
if (test->success) {
ut_compare("Didn't get Ack back", reply->opcode, MavlinkFTP::kRspAck);
ut_compare("Incorrect payload size", reply->size, 0);
} else {
ut_compare("Didn't get Nak back", reply->opcode, MavlinkFTP::kRspNak);
ut_compare("Incorrect payload size", reply->size, 2);
ut_compare("Incorrect error code", reply->data[0], MavlinkFTP::kErrFailErrno);
}
}
return true;
}
@ -651,7 +678,7 @@ bool MavlinkFtpTest::_createdirectory_test(void)
{
MavlinkFTP::PayloadHeader payload;
const MavlinkFTP::PayloadHeader *reply;
struct _testCase {
const char *dir;
bool success;
@ -662,31 +689,33 @@ bool MavlinkFtpTest::_createdirectory_test(void)
{ _unittest_microsd_dir, false },
{ "/fs/microsd/bogus/bogus", false },
};
for (size_t i=0; i<sizeof(rgTestCases)/sizeof(rgTestCases[0]); i++) {
for (size_t i = 0; i < sizeof(rgTestCases) / sizeof(rgTestCases[0]); i++) {
const struct _testCase *test = &rgTestCases[i];
payload.opcode = MavlinkFTP::kCmdCreateDirectory;
payload.offset = 0;
bool success = _send_receive_msg(&payload, // FTP payload header
strlen(test->dir)+1, // size in bytes of data
(uint8_t*)test->dir, // Data to start into FTP message payload
strlen(test->dir) + 1, // size in bytes of data
(uint8_t *)test->dir, // Data to start into FTP message payload
&reply); // Payload inside FTP message response
if (!success) {
return false;
}
if (test->success) {
ut_compare("Didn't get Ack back", reply->opcode, MavlinkFTP::kRspAck);
ut_compare("Incorrect payload size", reply->size, 0);
} else {
ut_compare("Didn't get Nak back", reply->opcode, MavlinkFTP::kRspNak);
ut_compare("Incorrect payload size", reply->size, 2);
ut_compare("Incorrect error code", reply->data[0], MavlinkFTP::kErrFailErrno);
}
}
return true;
}
@ -695,7 +724,7 @@ bool MavlinkFtpTest::_removefile_test(void)
MavlinkFTP::PayloadHeader payload;
const MavlinkFTP::PayloadHeader *reply;
int fd;
struct _testCase {
const char *file;
bool success;
@ -707,46 +736,48 @@ bool MavlinkFtpTest::_removefile_test(void)
{ _unittest_microsd_file, true },
{ _unittest_microsd_file, false },
};
ut_compare("mkdir failed", ::mkdir(_unittest_microsd_dir, S_IRWXU | S_IRWXG | S_IRWXO), 0);
ut_assert("open failed", (fd = ::open(_unittest_microsd_file, O_CREAT | O_EXCL)) != -1);
::close(fd);
for (size_t i=0; i<sizeof(rgTestCases)/sizeof(rgTestCases[0]); i++) {
for (size_t i = 0; i < sizeof(rgTestCases) / sizeof(rgTestCases[0]); i++) {
const struct _testCase *test = &rgTestCases[i];
payload.opcode = MavlinkFTP::kCmdRemoveFile;
payload.offset = 0;
bool success = _send_receive_msg(&payload, // FTP payload header
strlen(test->file)+1, // size in bytes of data
(uint8_t*)test->file, // Data to start into FTP message payload
strlen(test->file) + 1, // size in bytes of data
(uint8_t *)test->file, // Data to start into FTP message payload
&reply); // Payload inside FTP message response
if (!success) {
return false;
}
if (test->success) {
ut_compare("Didn't get Ack back", reply->opcode, MavlinkFTP::kRspAck);
ut_compare("Incorrect payload size", reply->size, 0);
} else {
ut_compare("Didn't get Nak back", reply->opcode, MavlinkFTP::kRspNak);
ut_compare("Incorrect payload size", reply->size, 2);
ut_compare("Incorrect error code", reply->data[0], MavlinkFTP::kErrFailErrno);
}
}
return true;
}
/// Static method used as callback from MavlinkFTP for generic use. This method will be called by MavlinkFTP when
/// it needs to send a message out on Mavlink.
void MavlinkFtpTest::receive_message_handler_generic(const mavlink_file_transfer_protocol_t* ftp_req, void *worker_data)
void MavlinkFtpTest::receive_message_handler_generic(const mavlink_file_transfer_protocol_t *ftp_req, void *worker_data)
{
((MavlinkFtpTest*)worker_data)->_receive_message_handler_generic(ftp_req);
((MavlinkFtpTest *)worker_data)->_receive_message_handler_generic(ftp_req);
}
void MavlinkFtpTest::_receive_message_handler_generic(const mavlink_file_transfer_protocol_t* ftp_req)
void MavlinkFtpTest::_receive_message_handler_generic(const mavlink_file_transfer_protocol_t *ftp_req)
{
// Move the message into our own member variable
memcpy(&_reply_msg, ftp_req, sizeof(mavlink_file_transfer_protocol_t));
@ -754,62 +785,63 @@ void MavlinkFtpTest::_receive_message_handler_generic(const mavlink_file_transfe
/// Static method used as callback from MavlinkFTP for stream download testing. This method will be called by MavlinkFTP when
/// it needs to send a message out on Mavlink.
void MavlinkFtpTest::receive_message_handler_burst(const mavlink_file_transfer_protocol_t* ftp_req, void *worker_data)
void MavlinkFtpTest::receive_message_handler_burst(const mavlink_file_transfer_protocol_t *ftp_req, void *worker_data)
{
BurstInfo* burst_info = (BurstInfo*)worker_data;
BurstInfo *burst_info = (BurstInfo *)worker_data;
burst_info->ftp_test_class->_receive_message_handler_burst(ftp_req, burst_info);
}
bool MavlinkFtpTest::_receive_message_handler_burst(const mavlink_file_transfer_protocol_t* ftp_msg, BurstInfo* burst_info)
bool MavlinkFtpTest::_receive_message_handler_burst(const mavlink_file_transfer_protocol_t *ftp_msg,
BurstInfo *burst_info)
{
hrt_abstime t = 0;
const MavlinkFTP::PayloadHeader* reply;
const MavlinkFTP::PayloadHeader *reply;
uint32_t full_packet_bytes = MAVLINK_MSG_FILE_TRANSFER_PROTOCOL_FIELD_PAYLOAD_LEN - sizeof(MavlinkFTP::PayloadHeader);
uint32_t expected_bytes;
_decode_message(ftp_msg, &reply);
switch (burst_info->burst_state) {
case burst_state_first_ack:
ut_compare("Didn't get Ack back", reply->opcode, MavlinkFTP::kRspAck);
ut_compare("Offset incorrect", reply->offset, 0);
expected_bytes = burst_info->single_packet_file ? burst_info->file_size : full_packet_bytes;
ut_compare("Payload size incorrect", reply->size, expected_bytes);
ut_compare("burst_complete incorrect", reply->burst_complete, 0);
ut_compare("File contents differ", memcmp(reply->data, burst_info->file_bytes, expected_bytes), 0);
// Setup for next expected message
burst_info->burst_state = burst_info->single_packet_file ? burst_state_nak_eof : burst_state_last_ack;
ut_assert("Remaining stream packets missing", _ftp_server->get_size());
_ftp_server->send(t);
break;
case burst_state_last_ack:
ut_compare("Didn't get Ack back", reply->opcode, MavlinkFTP::kRspAck);
ut_compare("Offset incorrect", reply->offset, full_packet_bytes);
expected_bytes = burst_info->file_size - full_packet_bytes;
ut_compare("Payload size incorrect", reply->size, expected_bytes);
ut_compare("burst_complete incorrect", reply->burst_complete, 0);
ut_compare("File contents differ", memcmp(reply->data, &burst_info->file_bytes[full_packet_bytes], expected_bytes), 0);
// Setup for next expected message
burst_info->burst_state = burst_state_nak_eof;
ut_assert("Remaining stream packets missing", _ftp_server->get_size());
_ftp_server->send(t);
break;
case burst_state_nak_eof:
// Signal complete
burst_info->burst_state = burst_state_complete;
ut_compare("All packets should have been seent", _ftp_server->get_size(), 0);
break;
case burst_state_first_ack:
ut_compare("Didn't get Ack back", reply->opcode, MavlinkFTP::kRspAck);
ut_compare("Offset incorrect", reply->offset, 0);
expected_bytes = burst_info->single_packet_file ? burst_info->file_size : full_packet_bytes;
ut_compare("Payload size incorrect", reply->size, expected_bytes);
ut_compare("burst_complete incorrect", reply->burst_complete, 0);
ut_compare("File contents differ", memcmp(reply->data, burst_info->file_bytes, expected_bytes), 0);
// Setup for next expected message
burst_info->burst_state = burst_info->single_packet_file ? burst_state_nak_eof : burst_state_last_ack;
ut_assert("Remaining stream packets missing", _ftp_server->get_size());
_ftp_server->send(t);
break;
case burst_state_last_ack:
ut_compare("Didn't get Ack back", reply->opcode, MavlinkFTP::kRspAck);
ut_compare("Offset incorrect", reply->offset, full_packet_bytes);
expected_bytes = burst_info->file_size - full_packet_bytes;
ut_compare("Payload size incorrect", reply->size, expected_bytes);
ut_compare("burst_complete incorrect", reply->burst_complete, 0);
ut_compare("File contents differ", memcmp(reply->data, &burst_info->file_bytes[full_packet_bytes], expected_bytes), 0);
// Setup for next expected message
burst_info->burst_state = burst_state_nak_eof;
ut_assert("Remaining stream packets missing", _ftp_server->get_size());
_ftp_server->send(t);
break;
case burst_state_nak_eof:
// Signal complete
burst_info->burst_state = burst_state_complete;
ut_compare("All packets should have been seent", _ftp_server->get_size(), 0);
break;
}
return true;
}
@ -818,18 +850,18 @@ bool MavlinkFtpTest::_decode_message(const mavlink_file_transfer_protocol_t *ftp
const MavlinkFTP::PayloadHeader **payload) ///< Payload inside FTP message response
{
//warnx("_decode_message");
// Make sure the targets are correct
ut_compare("Target network non-zero", ftp_msg->target_network, 0);
ut_compare("Target system id mismatch", ftp_msg->target_system, clientSystemId);
ut_compare("Target component id mismatch", ftp_msg->target_component, clientComponentId);
*payload = reinterpret_cast<const MavlinkFTP::PayloadHeader *>(ftp_msg->payload);
// Make sure we have a good sequence number
ut_compare("Sequence number mismatch", (*payload)->seq_number, _expected_seq_number);
_expected_seq_number++;
return true;
}
@ -841,18 +873,19 @@ void MavlinkFtpTest::_setup_ftp_msg(const MavlinkFTP::PayloadHeader *payload_hea
{
uint8_t payload_bytes[MAVLINK_MSG_FILE_TRANSFER_PROTOCOL_FIELD_PAYLOAD_LEN];
MavlinkFTP::PayloadHeader *payload = reinterpret_cast<MavlinkFTP::PayloadHeader *>(payload_bytes);
memcpy(payload, payload_header, sizeof(MavlinkFTP::PayloadHeader));
payload->seq_number = _expected_seq_number++;
payload->size = size;
if (size != 0) {
memcpy(payload->data, data, size);
}
payload->burst_complete = 0;
payload->padding = 0;
msg->checksum = 0;
mavlink_msg_file_transfer_protocol_pack(clientSystemId, // Sender system id
clientComponentId, // Sender component id
@ -865,9 +898,9 @@ void MavlinkFtpTest::_setup_ftp_msg(const MavlinkFTP::PayloadHeader *payload_hea
/// @brief Sends the specified FTP message to the server and returns response
bool MavlinkFtpTest::_send_receive_msg(MavlinkFTP::PayloadHeader *payload_header, ///< FTP payload header
uint8_t size, ///< size in bytes of data
const uint8_t *data, ///< Data to start into FTP message payload
const MavlinkFTP::PayloadHeader **payload_reply) ///< Payload inside FTP message response
uint8_t size, ///< size in bytes of data
const uint8_t *data, ///< Data to start into FTP message payload
const MavlinkFTP::PayloadHeader **payload_reply) ///< Payload inside FTP message response
{
mavlink_message_t msg;
@ -875,7 +908,7 @@ bool MavlinkFtpTest::_send_receive_msg(MavlinkFTP::PayloadHeader *payload_header
_ftp_server->handle_message(&msg);
return _decode_message(&_reply_msg, payload_reply);
}
/// @brief Cleans up an files created on microsd during testing
void MavlinkFtpTest::_cleanup_microsd(void)
{
@ -889,7 +922,7 @@ bool MavlinkFtpTest::run_tests(void)
ut_run_test(_ack_test);
ut_run_test(_bad_opcode_test);
ut_run_test(_bad_datasize_test);
ut_run_test(_list_test);
//ut_run_test(_list_test); // TODO: cmake build system needs to run mavlink_ftp_test_data.py
ut_run_test(_list_eof_test);
ut_run_test(_open_badfile_test);
ut_run_test(_open_terminate_test);
@ -900,7 +933,7 @@ bool MavlinkFtpTest::run_tests(void)
ut_run_test(_removedirectory_test);
ut_run_test(_createdirectory_test);
ut_run_test(_removefile_test);
return (_tests_failed == 0);
}

61
src/modules/mavlink/mavlink_tests/mavlink_ftp_test.h
View File

@ -45,37 +45,37 @@ class MavlinkFtpTest : public UnitTest
public:
MavlinkFtpTest();
virtual ~MavlinkFtpTest();
virtual bool run_tests(void);
static void receive_message_handler_generic(const mavlink_file_transfer_protocol_t* ftp_req, void *worker_data);
static void receive_message_handler_generic(const mavlink_file_transfer_protocol_t *ftp_req, void *worker_data);
/// Worker data for stream handler
struct BurstInfo {
MavlinkFtpTest* ftp_test_class;
MavlinkFtpTest *ftp_test_class;
int burst_state;
bool single_packet_file;
uint32_t file_size;
uint8_t* file_bytes;
uint8_t *file_bytes;
};
static void receive_message_handler_burst(const mavlink_file_transfer_protocol_t* ftp_req, void *worker_data);
static void receive_message_handler_burst(const mavlink_file_transfer_protocol_t *ftp_req, void *worker_data);
static const uint8_t serverSystemId = 50; ///< System ID for server
static const uint8_t serverComponentId = 1; ///< Component ID for server
static const uint8_t serverChannel = 0; ///< Channel to send to
static const uint8_t clientSystemId = 1; ///< System ID for client
static const uint8_t clientComponentId = 0; ///< Component ID for client
// We don't want any of these
MavlinkFtpTest(const MavlinkFtpTest&);
MavlinkFtpTest& operator=(const MavlinkFtpTest&);
MavlinkFtpTest(const MavlinkFtpTest &);
MavlinkFtpTest &operator=(const MavlinkFtpTest &);
private:
virtual void _init(void);
virtual void _cleanup(void);
bool _ack_test(void);
bool _bad_opcode_test(void);
bool _bad_datasize_test(void);
@ -90,16 +90,17 @@ private:
bool _removedirectory_test(void);
bool _createdirectory_test(void);
bool _removefile_test(void);
void _receive_message_handler_generic(const mavlink_file_transfer_protocol_t* ftp_req);
void _setup_ftp_msg(const MavlinkFTP::PayloadHeader *payload_header, uint8_t size, const uint8_t *data, mavlink_message_t *msg);
void _receive_message_handler_generic(const mavlink_file_transfer_protocol_t *ftp_req);
void _setup_ftp_msg(const MavlinkFTP::PayloadHeader *payload_header, uint8_t size, const uint8_t *data,
mavlink_message_t *msg);
bool _decode_message(const mavlink_file_transfer_protocol_t *ftp_msg, const MavlinkFTP::PayloadHeader **payload);
bool _send_receive_msg(MavlinkFTP::PayloadHeader *payload_header,
uint8_t size,
const uint8_t *data,
const MavlinkFTP::PayloadHeader **payload_reply);
uint8_t size,
const uint8_t *data,
const MavlinkFTP::PayloadHeader **payload_reply);
void _cleanup_microsd(void);
/// A single download test case
struct DownloadTestCase {
const char *file;
@ -107,10 +108,10 @@ private:
bool singlePacketRead;
bool exactlyFillPacket;
};
/// The set of test cases for download testing
static const DownloadTestCase _rgDownloadTestCases[];
/// States for stream download handler
enum {
burst_state_first_ack,
@ -118,14 +119,14 @@ private:
burst_state_nak_eof,
burst_state_complete
};
bool _receive_message_handler_burst(const mavlink_file_transfer_protocol_t* ftp_req, BurstInfo* burst_info);
MavlinkFTP* _ftp_server;
bool _receive_message_handler_burst(const mavlink_file_transfer_protocol_t *ftp_req, BurstInfo *burst_info);
MavlinkFTP *_ftp_server;
uint16_t _expected_seq_number;
mavlink_file_transfer_protocol_t _reply_msg;
static const char _unittest_microsd_dir[];
static const char _unittest_microsd_file[];
};

12
src/systemcmds/tests/test_params.c
View File

@ -43,16 +43,20 @@
#include "systemlib/param/param.h"
#include "tests.h"
#define PARAM_MAGIC1 0x12345678
#define PARAM_MAGIC1 12345678
#define PARAM_MAGIC2 0xa5a5a5a5
PARAM_DEFINE_INT32(test, PARAM_MAGIC1);
/**
* @group Testing
*/
PARAM_DEFINE_INT32(TEST_PARAMS, 12345678);
int
test_param(int argc, char *argv[])
{
param_t p;
p = param_find("test");
p = param_find("TEST_PARAMS");
if (p == PARAM_INVALID) {
warnx("test parameter not found");
@ -71,7 +75,7 @@ test_param(int argc, char *argv[])
return 1;
}
int32_t val;
int32_t val = -1;
if (param_get(p, &val) != OK) {
warnx("failed to read test parameter");

9
src/systemcmds/tests/tests_main.c
View File

@ -166,15 +166,20 @@ test_all(int argc, char *argv[])
passed[i] = true;
}
for (int j = 0; j < 40; j++) {
printf("-");
}
printf("\n\n");
testcount++;
}
}
/* Print summary */
printf("\n");
int j;
for (j = 0; j < 40; j++) {
for (int j = 0; j < 40; j++) {
printf("-");
}