From 72f6aaca96f7c7936f33cc3e7d7073ddb92d9bfa Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Mon, 6 Oct 2014 07:53:18 +0200
Subject: [PATCH] Add ST24 test harness

---
 Tools/tests-host/.gitignore    |  1 +
 Tools/tests-host/Makefile      | 11 +++++--
 Tools/tests-host/st24_test.cpp | 58 ++++++++++++++++++++++++++++++++++
 3 files changed, 68 insertions(+), 2 deletions(-)
 create mode 100644 Tools/tests-host/st24_test.cpp

diff --git a/Tools/tests-host/.gitignore b/Tools/tests-host/.gitignore
index 87b314c614..b06f998157 100644
--- a/Tools/tests-host/.gitignore
+++ b/Tools/tests-host/.gitignore
@@ -2,3 +2,4 @@
 mixer_test
 sbus2_test
 autodeclination_test
+st24_test
diff --git a/Tools/tests-host/Makefile b/Tools/tests-host/Makefile
index f0737ef88c..5ee0c94326 100644
--- a/Tools/tests-host/Makefile
+++ b/Tools/tests-host/Makefile
@@ -3,7 +3,7 @@ CC=g++
 CFLAGS=-I. -I../../src/modules -I ../../src/include -I../../src/drivers \
 	-I../../src -I../../src/lib -D__EXPORT="" -Dnullptr="0" -lm
 
-all: mixer_test sbus2_test autodeclination_test
+all: mixer_test sbus2_test autodeclination_test st24_test
 
 MIXER_FILES=../../src/systemcmds/tests/test_mixer.cpp \
 		../../src/systemcmds/tests/test_conv.cpp \
@@ -20,6 +20,10 @@ SBUS2_FILES=../../src/modules/px4iofirmware/sbus.c \
 		hrt.cpp \
 		sbus2_test.cpp
 
+ST24_FILES=../../src/lib/rc/st24.c \
+		hrt.cpp \
+		st24_test.cpp
+
 AUTODECLINATION_FILES= ../../src/lib/geo/geo_mag_declination.c \
 		hrt.cpp \
 		autodeclination_test.cpp
@@ -33,7 +37,10 @@ sbus2_test: $(SBUS2_FILES)
 autodeclination_test: $(SBUS2_FILES)
 	$(CC) -o autodeclination_test $(AUTODECLINATION_FILES) $(CFLAGS)
 
+st24_test: $(ST24_FILES)
+	$(CC) -o st24_test $(ST24_FILES) $(CFLAGS)
+
 .PHONY: clean
 
 clean:
-	rm -f $(ODIR)/*.o *~ core $(INCDIR)/*~ mixer_test sbus2_test autodeclination_test
\ No newline at end of file
+	rm -f $(ODIR)/*.o *~ core $(INCDIR)/*~ mixer_test sbus2_test autodeclination_test st24_test
\ No newline at end of file
diff --git a/Tools/tests-host/st24_test.cpp b/Tools/tests-host/st24_test.cpp
new file mode 100644
index 0000000000..680791ca8a
--- /dev/null
+++ b/Tools/tests-host/st24_test.cpp
@@ -0,0 +1,58 @@
+
+#include <stdio.h>
+#include <unistd.h>
+#include <string.h>
+#include <systemlib/err.h>
+#include <drivers/drv_hrt.h>
+#include <px4iofirmware/px4io.h>
+#include "../../src/systemcmds/tests/tests.h"
+
+int main(int argc, char *argv[]) {
+	warnx("ST24 test started");
+
+	if (argc < 2)
+		errx(1, "Need a filename for the input file");
+
+	warnx("loading data from: %s", argv[1]);
+
+	FILE *fp;
+	
+	fp = fopen(argv[1],"rt");
+
+	if (!fp)
+		errx(1, "failed opening file");
+
+	float f;
+	unsigned x;
+	int ret;
+
+	// Trash the first 20 lines
+	for (unsigned i = 0; i < 20; i++) {
+		(void)fscanf(fp, "%f,%x,,", &f, &x);
+	}
+
+	float last_time = 0;
+
+	while (EOF != (ret = fscanf(fp, "%f,%x,,", &f, &x))) {
+		if (((f - last_time) * 1000 * 1000) > 3000) {
+			warnx("FRAME RESET\n\n");
+		}
+
+		warnx("%f: 0x%02x", (double)f, x);
+
+		last_time = f;
+
+		// Pipe the data into the parser
+		hrt_abstime now = hrt_absolute_time();
+
+		//if (partial_frame_count % 25 == 0)
+			//sbus_parse(now, frame, &partial_frame_count, rc_values, &num_values, &sbus_failsafe, &sbus_frame_drop, max_channels);
+	}
+
+	if (ret == EOF) {
+		warnx("Test finished, reached end of file");
+	} else {
+		warnx("Test aborted, errno: %d", ret);
+	}
+
+}