From 2fdbdd15ecbb0157b46b81bdb447c0e0da22d055 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Sat, 5 Sep 2015 12:21:12 -0400 Subject: [PATCH] format src/systemcmds/tests --- src/systemcmds/tests/test_bson.c | 6 +-- src/systemcmds/tests/test_conv.cpp | 2 +- src/systemcmds/tests/test_eigen.cpp | 53 ++++++++++++++------- src/systemcmds/tests/test_file2.c | 1 + src/systemcmds/tests/test_hott_telemetry.c | 2 +- src/systemcmds/tests/test_mixer.cpp | 16 ++++--- src/systemcmds/tests/test_mount.c | 2 +- src/systemcmds/tests/test_uart_baudchange.c | 2 +- 8 files changed, 53 insertions(+), 31 deletions(-) diff --git a/src/systemcmds/tests/test_bson.c b/src/systemcmds/tests/test_bson.c index bba1ae4f12..945b00aa51 100644 --- a/src/systemcmds/tests/test_bson.c +++ b/src/systemcmds/tests/test_bson.c @@ -39,7 +39,7 @@ #define __STDC_FORMAT_MACROS #include - + #include #include #include @@ -111,8 +111,8 @@ decode_callback(bson_decoder_t decoder, void *private, bson_node_t node) if (node->b != sample_bool) { PX4_ERR("FAIL: decoder: bool1 value %s, expected %s", - (node->b ? "true" : "false"), - (sample_bool ? "true" : "false")); + (node->b ? "true" : "false"), + (sample_bool ? "true" : "false")); return 1; } diff --git a/src/systemcmds/tests/test_conv.cpp b/src/systemcmds/tests/test_conv.cpp index 8718342eb9..e451755959 100644 --- a/src/systemcmds/tests/test_conv.cpp +++ b/src/systemcmds/tests/test_conv.cpp @@ -67,7 +67,7 @@ int test_conv(int argc, char *argv[]) if (fabsf(f - fres) > 0.0001f) { PX4_ERR("conversion fail: input: %8.4f, intermediate: %d, result: %8.4f", (double)f, REG_TO_SIGNED(FLOAT_TO_REG(f)), - (double)fres); + (double)fres); return 1; } } diff --git a/src/systemcmds/tests/test_eigen.cpp b/src/systemcmds/tests/test_eigen.cpp index 0f71260e5d..ba3922784b 100644 --- a/src/systemcmds/tests/test_eigen.cpp +++ b/src/systemcmds/tests/test_eigen.cpp @@ -89,9 +89,9 @@ uint8_t err_num; #define EXPECT_QUATERNION(q_exp, q_act, epsilon) \ (fabsf(q_exp.x() - q_act.x()) <= epsilon && \ - fabsf(q_exp.y() - q_act.y()) <= epsilon && \ - fabsf(q_exp.z() - q_act.z()) <= epsilon && \ - fabsf(q_exp.w() - q_act.w()) <= epsilon) + fabsf(q_exp.y() - q_act.y()) <= epsilon && \ + fabsf(q_exp.z() - q_act.z()) <= epsilon && \ + fabsf(q_exp.w() - q_act.w()) <= epsilon) #define EXPECT_NEAR(expected, actual, epsilon) \ (fabsf(expected - actual) <= epsilon) @@ -130,12 +130,13 @@ math::Quaternion px4qFromEigenq(const Eigen::Quaternionf &q); * Construct new Eigen::Quaternion from euler angles * Right order is YPR. **/ -Eigen::Quaternionf quatFromEuler(const Eigen::Vector3f &rpy){ +Eigen::Quaternionf quatFromEuler(const Eigen::Vector3f &rpy) +{ return Eigen::Quaternionf( - Eigen::AngleAxisf(rpy.z(), Eigen::Vector3f::UnitZ()) * - Eigen::AngleAxisf(rpy.y(), Eigen::Vector3f::UnitY()) * - Eigen::AngleAxisf(rpy.x(), Eigen::Vector3f::UnitX()) - ); + Eigen::AngleAxisf(rpy.z(), Eigen::Vector3f::UnitZ()) * + Eigen::AngleAxisf(rpy.y(), Eigen::Vector3f::UnitY()) * + Eigen::AngleAxisf(rpy.x(), Eigen::Vector3f::UnitX()) + ); } /** @@ -143,7 +144,8 @@ Eigen::Quaternionf quatFromEuler(const Eigen::Vector3f &rpy){ * Construct new Eigen::Vector3f of euler angles from quaternion * Right order is YPR. **/ -Eigen::Vector3f eulerFromQuat(const Eigen::Quaternionf &q){ +Eigen::Vector3f eulerFromQuat(const Eigen::Quaternionf &q) +{ return q.toRotationMatrix().eulerAngles(2, 1, 0).reverse(); } @@ -151,7 +153,8 @@ Eigen::Vector3f eulerFromQuat(const Eigen::Quaternionf &q){ * @brief * Construct new Eigen::Matrix3f from euler angles **/ -Eigen::Matrix3f matrixFromEuler(const Eigen::Vector3f &rpy){ +Eigen::Matrix3f matrixFromEuler(const Eigen::Vector3f &rpy) +{ return quatFromEuler(rpy).toRotationMatrix(); } @@ -159,7 +162,8 @@ Eigen::Matrix3f matrixFromEuler(const Eigen::Vector3f &rpy){ * @brief * Adjust PX4 math::quaternion to Eigen::Quaternionf **/ -Eigen::Quaternionf eigenqFromPx4q(const math::Quaternion &q){ +Eigen::Quaternionf eigenqFromPx4q(const math::Quaternion &q) +{ return Eigen::Quaternionf(q.data[1], q.data[2], q.data[3], q.data[0]); } @@ -167,7 +171,8 @@ Eigen::Quaternionf eigenqFromPx4q(const math::Quaternion &q){ * @brief * Adjust Eigen::Quaternionf to PX4 math::quaternion **/ -math::Quaternion px4qFromEigenq(const Eigen::Quaternionf &q){ +math::Quaternion px4qFromEigenq(const Eigen::Quaternionf &q) +{ return math::Quaternion(q.w(), q.x(), q.y(), q.z()); } @@ -175,7 +180,8 @@ math::Quaternion px4qFromEigenq(const Eigen::Quaternionf &q){ * @brief * Testing main routine **/ -int test_eigen(int argc, char *argv[]) { +int test_eigen(int argc, char *argv[]) +{ int rc = 0; warnx("Testing Eigen math..."); @@ -285,7 +291,7 @@ int test_eigen(int argc, char *argv[]) { const Eigen::Matrix m1_orig = (Eigen::Matrix() << 1, 2, 3, - 4, 5, 6).finished(); + 4, 5, 6).finished(); Eigen::Matrix m1(m1_orig); @@ -362,6 +368,7 @@ int test_eigen(int argc, char *argv[]) { ++err_num; rc = 1; } + /********************************************************************************************************/ /******************************************** TEST 2 ****************************************************/ q_true = {1.0f, 0.0f, 0.0f, 0.0f}; @@ -376,6 +383,7 @@ int test_eigen(int argc, char *argv[]) { ++err_num; rc = 1; } + /********************************************************************************************************/ /******************************************** TEST 3 ****************************************************/ q_true = quatFromEuler(Eigen::Vector3f(0.3f, 0.2f, 0.1f)); @@ -388,6 +396,7 @@ int test_eigen(int argc, char *argv[]) { ++err_num; rc = 1; } + /********************************************************************************************************/ /******************************************** TEST 4 ****************************************************/ q_true = quatFromEuler(Eigen::Vector3f(-1.5f, -0.2f, 0.5f)); @@ -400,6 +409,7 @@ int test_eigen(int argc, char *argv[]) { ++err_num; rc = 1; } + /********************************************************************************************************/ /******************************************** TEST 5 ****************************************************/ q_true = quatFromEuler(Eigen::Vector3f(M_PI_2_F, -M_PI_2_F, -M_PI_F / 3)); @@ -407,13 +417,15 @@ int test_eigen(int argc, char *argv[]) { for (size_t i = 0; i < 4; i++) { if (!EXPECT_QUATERNION(q_true, q, FLT_EPSILON)) { - printf("%llu: It[%d]: Value of: Quaternion [0.6830, 0.1830, -0.6830, 0.1830]\n", (unsigned long long)hrt_absolute_time(), (int)i); + printf("%llu: It[%d]: Value of: Quaternion [0.6830, 0.1830, -0.6830, 0.1830]\n", + (unsigned long long)hrt_absolute_time(), (int)i); printf("Actual: \t[%8.5f, %8.5f, %8.5f, %8.5f]\n", q.w(), q.x(), q.y(), q.z()); printf("Expected: \t[%8.5f, %8.5f, %8.5f, %8.5f]\n", q_true.w(), q_true.x(), q_true.y(), q_true.z()); ++err_num; rc = 1; } } + /********************************************************************************************************/ /******************************************** TEST 6 ****************************************************/ printf("%llu: Conversion method: Testing transformation range...\n", (unsigned long long)hrt_absolute_time()); @@ -430,7 +442,8 @@ int test_eigen(int argc, char *argv[]) { for (size_t i = 0; i < 3; i++) { for (size_t j = 0; j < 3; j++) { if (!EXPECT_NEAR(R_orig(i, j), R(i, j), epsilon_f)) { - printf("%llu: (%d, %d) Value of: Quaternion constructor or 'toRotationMatrix'\n", (unsigned long long)hrt_absolute_time(), (int)i, (int)j); + printf("%llu: (%d, %d) Value of: Quaternion constructor or 'toRotationMatrix'\n", + (unsigned long long)hrt_absolute_time(), (int)i, (int)j); printf("Actual: \t%8.5f\n", R(i, j)); printf("Expected: \t%8.5f\n", R_orig(i, j)); ++err_num; @@ -457,7 +470,7 @@ int test_eigen(int argc, char *argv[]) { /******************************************** TEST 1 ****************************************************/ q = quatFromEuler(Eigen::Vector3f(0.0f, 0.0f, M_PI_2_F)); vector_q = q._transformVector(vector); - Eigen::Vector3f vector_true = {-1.00f, 1.00f, 1.00f}; + Eigen::Vector3f vector_true = { -1.00f, 1.00f, 1.00f}; for (size_t i = 0; i < 3; i++) { if (!EXPECT_NEAR(vector_true(i), vector_q(i), FLT_EPSILON)) { @@ -468,6 +481,7 @@ int test_eigen(int argc, char *argv[]) { rc = 1; } } + /********************************************************************************************************/ /******************************************** TEST 2 ****************************************************/ q = quatFromEuler(Eigen::Vector3f(0.1f, 0.2f, 0.3f)); @@ -483,6 +497,7 @@ int test_eigen(int argc, char *argv[]) { rc = 1; } } + /********************************************************************************************************/ /******************************************** TEST 3 ****************************************************/ q = quatFromEuler(Eigen::Vector3f(0.5f, -0.2f, -1.5f)); @@ -498,11 +513,12 @@ int test_eigen(int argc, char *argv[]) { rc = 1; } } + /********************************************************************************************************/ /******************************************** TEST 4 ****************************************************/ q = quatFromEuler(Eigen::Vector3f(-M_PI_F / 3.0f, -M_PI_2_F, M_PI_2_F)); vector_q = q._transformVector(vector); - vector_true = {-1.366030f, 0.366025f, 1.000000f}; + vector_true = { -1.366030f, 0.366025f, 1.000000f}; for (size_t i = 0; i < 3; i++) { if (!EXPECT_NEAR(vector_true(i), vector_q(i), epsilon_f)) { @@ -513,6 +529,7 @@ int test_eigen(int argc, char *argv[]) { rc = 1; } } + /********************************************************************************************************/ /******************************************** TEST 5 ****************************************************/ printf("%llu: Rotation method: Testing transformation range...\n", (unsigned long long)hrt_absolute_time()); diff --git a/src/systemcmds/tests/test_file2.c b/src/systemcmds/tests/test_file2.c index 630b9adc48..56d9f0d83a 100644 --- a/src/systemcmds/tests/test_file2.c +++ b/src/systemcmds/tests/test_file2.c @@ -176,6 +176,7 @@ int test_file2(int argc, char *argv[]) int myoptind = 1; const char *myoptarg = NULL; + while ((opt = px4_getopt(argc, argv, "c:s:FLh", &myoptind, &myoptarg)) != EOF) { switch (opt) { case 'F': diff --git a/src/systemcmds/tests/test_hott_telemetry.c b/src/systemcmds/tests/test_hott_telemetry.c index 430d0445d8..d1e9281191 100644 --- a/src/systemcmds/tests/test_hott_telemetry.c +++ b/src/systemcmds/tests/test_hott_telemetry.c @@ -195,7 +195,7 @@ int test_hott_telemetry(int argc, char *argv[]) } else { PX4_WARN("WARN: Received %d out of %d byte pairs of which %d were valid from the HoTT receiver device.", received_count, - max_polls, valid_count); + max_polls, valid_count); } } else { diff --git a/src/systemcmds/tests/test_mixer.cpp b/src/systemcmds/tests/test_mixer.cpp index a8a4878ccb..98b65f10d1 100644 --- a/src/systemcmds/tests/test_mixer.cpp +++ b/src/systemcmds/tests/test_mixer.cpp @@ -204,7 +204,7 @@ int test_mixer(int argc, char *argv[]) mixed = mixer_group.mix(&outputs[0], output_max, NULL); pwm_limit_calc(should_arm, should_prearm, mixed, reverse_pwm_mask, r_page_servo_disarmed, r_page_servo_control_min, - r_page_servo_control_max, outputs, r_page_servos, &pwm_limit); + r_page_servo_control_max, outputs, r_page_servos, &pwm_limit); //warnx("mixed %d outputs (max %d), values:", mixed, output_max); for (unsigned i = 0; i < mixed; i++) { @@ -216,6 +216,7 @@ int test_mixer(int argc, char *argv[]) warnx("active servo < min"); return 1; } + } else { if (r_page_servos[i] != r_page_servo_disarmed[i]) { warnx("throttle output != 0 (this check assumed the IO pass mixer!)"); @@ -244,7 +245,7 @@ int test_mixer(int argc, char *argv[]) mixed = mixer_group.mix(&outputs[0], output_max, NULL); pwm_limit_calc(should_arm, should_prearm, mixed, reverse_pwm_mask, r_page_servo_disarmed, r_page_servo_control_min, - r_page_servo_control_max, outputs, r_page_servos, &pwm_limit); + r_page_servo_control_max, outputs, r_page_servos, &pwm_limit); //warnx("mixed %d outputs (max %d), values:", mixed, output_max); for (unsigned i = 0; i < mixed; i++) { @@ -287,7 +288,8 @@ int test_mixer(int argc, char *argv[]) /* mix */ mixed = mixer_group.mix(&outputs[0], output_max, NULL); - pwm_limit_calc(should_arm, should_prearm, mixed, reverse_pwm_mask, r_page_servo_disarmed, r_page_servo_control_min, r_page_servo_control_max, outputs, + pwm_limit_calc(should_arm, should_prearm, mixed, reverse_pwm_mask, r_page_servo_disarmed, r_page_servo_control_min, + r_page_servo_control_max, outputs, r_page_servos, &pwm_limit); PX4_INFO("mixed %d outputs (max %d)", mixed, output_max); @@ -314,7 +316,8 @@ int test_mixer(int argc, char *argv[]) /* mix */ mixed = mixer_group.mix(&outputs[0], output_max, NULL); - pwm_limit_calc(should_arm, should_prearm, mixed, reverse_pwm_mask, r_page_servo_disarmed, r_page_servo_control_min, r_page_servo_control_max, outputs, + pwm_limit_calc(should_arm, should_prearm, mixed, reverse_pwm_mask, r_page_servo_disarmed, r_page_servo_control_min, + r_page_servo_control_max, outputs, r_page_servos, &pwm_limit); //warnx("mixed %d outputs (max %d), values:", mixed, output_max); @@ -351,7 +354,8 @@ int test_mixer(int argc, char *argv[]) /* mix */ mixed = mixer_group.mix(&outputs[0], output_max, NULL); - pwm_limit_calc(should_arm, should_prearm, mixed, reverse_pwm_mask, r_page_servo_disarmed, r_page_servo_control_min, r_page_servo_control_max, outputs, + pwm_limit_calc(should_arm, should_prearm, mixed, reverse_pwm_mask, r_page_servo_disarmed, r_page_servo_control_min, + r_page_servo_control_max, outputs, r_page_servos, &pwm_limit); //warnx("mixed %d outputs (max %d), values:", mixed, output_max); @@ -435,7 +439,7 @@ mixer_callback(uintptr_t handle, control = actuator_controls[control_index]; if (should_prearm && control_group == actuator_controls_s::GROUP_INDEX_ATTITUDE && - control_index == actuator_controls_s::INDEX_THROTTLE) { + control_index == actuator_controls_s::INDEX_THROTTLE) { control = NAN_VALUE; } diff --git a/src/systemcmds/tests/test_mount.c b/src/systemcmds/tests/test_mount.c index 64eefa0b47..f92c5f6316 100644 --- a/src/systemcmds/tests/test_mount.c +++ b/src/systemcmds/tests/test_mount.c @@ -132,7 +132,7 @@ test_mount(int argc, char *argv[]) } PX4_INFO("Iterations left: #%d / #%d of %d / %d\n(%s)", it_left_fsync, it_left_abort, - fsync_tries, abort_tries, buf); + fsync_tries, abort_tries, buf); int it_left_fsync_prev = it_left_fsync; diff --git a/src/systemcmds/tests/test_uart_baudchange.c b/src/systemcmds/tests/test_uart_baudchange.c index 8c9a5ff35f..7c138efca1 100644 --- a/src/systemcmds/tests/test_uart_baudchange.c +++ b/src/systemcmds/tests/test_uart_baudchange.c @@ -165,5 +165,5 @@ int test_uart_baudchange(int argc, char *argv[]) cleanup: close(uart2); return ret; - + }