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Update SBUS2 test

This commit is contained in:
Lorenz Meier 2015-12-06 11:35:00 +01:00
parent 98da35793d
commit 475fec88fa
1 changed files with 59 additions and 15 deletions
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74
unittests/sbus2_test.cpp
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@ -20,33 +20,67 @@ TEST(SBUS2Test, SBUS2)
ASSERT_TRUE(fp); ASSERT_TRUE(fp);
warnx("loading data from: %s", filepath); warnx("loading data from: %s", filepath);
// if (argc < 2)
// errx(1, "Need a filename for the input file");
int byte_offset = 7;
// if (argc > 2) {
// char* end;
// byte_offset = strtol(argv[2],&end,10);
// }
warnx("RUNNING TEST WITH BYTE OFFSET OF: %d", byte_offset);
float f; float f;
unsigned x; unsigned x;
int ret; int ret;
// Trash the first 20 lines // Trash the first 20 lines
for (unsigned i = 0; i < 20; i++) { for (unsigned i = 0; i < 20; i++) {
char buf[200]; (void)fscanf(fp, "%f,%x,,", &f, &x);
(void)fgets(buf, sizeof(buf), fp);
} }
// Init the parser // Init the parser
uint8_t frame[30]; uint8_t frame[SBUS_BUFFER_SIZE];
unsigned partial_frame_count = 0; unsigned partial_frame_count = 0;
//uint16_t rc_values[18]; uint16_t rc_values[18];
//uint16_t num_values; uint16_t num_values;
//bool sbus_failsafe; uint16_t sbus_frame_drops = 0;
//bool sbus_frame_drop; unsigned sbus_frame_resets = 0;
//uint16_t max_channels = sizeof(rc_values) / sizeof(rc_values[0]); bool sbus_failsafe;
bool sbus_frame_drop;
uint16_t max_channels = sizeof(rc_values) / sizeof(rc_values[0]);
float last_time = 0; float last_time = 0;
int rate_limiter = 0;
while (EOF != (ret = fscanf(fp, "%f,%x,,", &f, &x))) { while (EOF != (ret = fscanf(fp, "%f,%x,,", &f, &x))) {
if (((f - last_time) * 1000 * 1000) > 3000) {
unsigned last_drop = sbus_frame_drops + sbus_frame_resets;
unsigned interval_us = ((f - last_time) * 1000 * 1000);
if (interval_us > SBUS_INTER_FRAME_TIMEOUT) {
if (partial_frame_count != 0) {
warnx("[ %08.4fs ] INTERVAL: %u - FRAME RESET, DROPPED %d bytes",
interval_us, f, partial_frame_count);
printf("\t\tdropped: ");
for (int i = 0; i < partial_frame_count; i++) {
printf("%02X ", frame[i]);
}
printf("\n");
sbus_frame_resets++;
}
partial_frame_count = 0; partial_frame_count = 0;
//warnx("FRAME RESET\n\n");
} }
last_time = f;
frame[partial_frame_count] = x; frame[partial_frame_count] = x;
partial_frame_count++; partial_frame_count++;
@ -54,15 +88,25 @@ TEST(SBUS2Test, SBUS2)
if (partial_frame_count == sizeof(frame)) { if (partial_frame_count == sizeof(frame)) {
partial_frame_count = 0; partial_frame_count = 0;
warnx("FRAME SIZE OVERFLOW!\n\n\n");
} }
last_time = f;
// Pipe the data into the parser // Pipe the data into the parser
//hrt_abstime now = hrt_absolute_time(); hrt_abstime now = hrt_absolute_time();
//if (partial_frame_count % 25 == 0) if (rate_limiter % byte_offset == 0) {
//sbus_parse(now, frame, &partial_frame_count, rc_values, &num_values, &sbus_failsafe, &sbus_frame_drop, max_channels); bool result = sbus_parse(now, frame, &partial_frame_count, rc_values, &num_values,
&sbus_failsafe, &sbus_frame_drop, max_channels);
sbus_frame_drops = sbus_dropped_frames();
if (result)
warnx("decoded packet");
}
if (last_drop != (sbus_frame_drops + sbus_frame_resets))
warnx("frame dropped, now #%d", (sbus_frame_drops + sbus_frame_resets));
rate_limiter++;
} }
ASSERT_EQ(ret, EOF); ASSERT_EQ(ret, EOF);