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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

@ -137,6 +137,9 @@ 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

@ -46,15 +46,20 @@ if(NOT ${BOARD} STREQUAL "sim")
set(extras "${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;

92
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);
@ -306,7 +312,7 @@ bool StateMachineHelperTest::mainStateTransitionTest(void)
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
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

115
src/modules/mavlink/mavlink_tests/mavlink_ftp_test.cpp
View File

@ -94,6 +94,7 @@ bool MavlinkFtpTest::_ack_test(void)
0, // size in bytes of data
nullptr, // Data to start into FTP message payload
&reply); // Payload inside FTP message response
if (!success) {
return false;
}
@ -116,6 +117,7 @@ bool MavlinkFtpTest::_bad_opcode_test(void)
0, // size in bytes of data
nullptr, // Data to start into FTP message payload
&reply); // Payload inside FTP message response
if (!success) {
return false;
}
@ -139,7 +141,8 @@ bool MavlinkFtpTest::_bad_datasize_test(void)
_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);
@ -174,16 +177,17 @@ 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
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;
}
@ -197,19 +201,23 @@ bool MavlinkFtpTest::_list_test(void)
// 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++;
@ -217,6 +225,7 @@ bool MavlinkFtpTest::_list_test(void)
}
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);
@ -239,9 +248,10 @@ bool MavlinkFtpTest::_list_eof_test(void)
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
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;
}
@ -264,9 +274,10 @@ bool MavlinkFtpTest::_open_badfile_test(void)
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
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;
}
@ -284,7 +295,7 @@ 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];
@ -292,9 +303,10 @@ bool MavlinkFtpTest::_open_terminate_test(void)
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;
}
@ -304,7 +316,7 @@ bool MavlinkFtpTest::_open_terminate_test(void)
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;
@ -314,6 +326,7 @@ bool MavlinkFtpTest::_open_terminate_test(void)
0, // size in bytes of data
nullptr, // Data to start into FTP message payload
&reply); // Payload inside FTP message response
if (!success) {
return false;
}
@ -336,9 +349,10 @@ bool MavlinkFtpTest::_terminate_badsession_test(void)
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;
}
@ -353,6 +367,7 @@ bool MavlinkFtpTest::_terminate_badsession_test(void)
0, // size in bytes of data
nullptr, // Data to start into FTP message payload
&reply); // Payload inside FTP message response
if (!success) {
return false;
}
@ -370,7 +385,7 @@ 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];
@ -391,9 +406,10 @@ bool MavlinkFtpTest::_read_test(void)
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;
}
@ -408,6 +424,7 @@ bool MavlinkFtpTest::_read_test(void)
0, // size in bytes of data
nullptr, // Data to start into FTP message payload
&reply); // Payload inside FTP message response
if (!success) {
return false;
}
@ -428,16 +445,19 @@ bool MavlinkFtpTest::_read_test(void)
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;
}
@ -458,6 +478,7 @@ bool MavlinkFtpTest::_read_test(void)
0, // size in bytes of data
nullptr, // Data to start into FTP message payload
&reply); // Payload inside FTP message response
if (!success) {
return false;
}
@ -478,7 +499,7 @@ bool MavlinkFtpTest::_burst_test(void)
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];
@ -499,9 +520,10 @@ bool MavlinkFtpTest::_burst_test(void)
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;
}
@ -543,6 +565,7 @@ bool MavlinkFtpTest::_burst_test(void)
0, // size in bytes of data
nullptr, // Data to start into FTP message payload
&reply); // Payload inside FTP message response
if (!success) {
return false;
}
@ -565,9 +588,10 @@ bool MavlinkFtpTest::_read_badsession_test(void)
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;
}
@ -582,6 +606,7 @@ bool MavlinkFtpTest::_read_badsession_test(void)
0, // size in bytes of data
nullptr, // Data to start into FTP message payload
&reply); // Payload inside FTP message response
if (!success) {
return false;
}
@ -616,7 +641,7 @@ bool MavlinkFtpTest::_removedirectory_test(void)
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) {
@ -627,9 +652,10 @@ bool MavlinkFtpTest::_removedirectory_test(void)
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;
}
@ -637,6 +663,7 @@ bool MavlinkFtpTest::_removedirectory_test(void)
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);
@ -663,16 +690,17 @@ bool MavlinkFtpTest::_createdirectory_test(void)
{ "/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;
}
@ -680,6 +708,7 @@ bool MavlinkFtpTest::_createdirectory_test(void)
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);
@ -712,16 +741,17 @@ bool MavlinkFtpTest::_removefile_test(void)
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;
}
@ -729,6 +759,7 @@ bool MavlinkFtpTest::_removefile_test(void)
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);
@ -741,12 +772,12 @@ bool MavlinkFtpTest::_removefile_test(void)
/// 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));
@ -754,16 +785,17 @@ 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;
@ -846,6 +878,7 @@ void MavlinkFtpTest::_setup_ftp_msg(const MavlinkFTP::PayloadHeader *payload_hea
payload->seq_number = _expected_seq_number++;
payload->size = size;
if (size != 0) {
memcpy(payload->data, data, size);
}
@ -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);

21
src/modules/mavlink/mavlink_tests/mavlink_ftp_test.h
View File

@ -48,18 +48,18 @@ public:
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
@ -69,8 +69,8 @@ public:
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);
@ -91,8 +91,9 @@ private:
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,
@ -119,9 +120,9 @@ private:
burst_state_complete
};
bool _receive_message_handler_burst(const mavlink_file_transfer_protocol_t* ftp_req, BurstInfo* burst_info);
bool _receive_message_handler_burst(const mavlink_file_transfer_protocol_t *ftp_req, BurstInfo *burst_info);
MavlinkFTP* _ftp_server;
MavlinkFTP *_ftp_server;
uint16_t _expected_seq_number;
mavlink_file_transfer_protocol_t _reply_msg;

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("-");
}