px4-firmware/unittests/sumd_test.cpp

64 lines
1.3 KiB
C++

#include <stdio.h>
#include <unistd.h>
#include <string.h>
#include <systemlib/err.h>
#include <drivers/drv_hrt.h>
#include <rc/sumd.h>
#include "../../src/systemcmds/tests/tests.h"
#include "gtest/gtest.h"
TEST(SUMDTest, SUMD)
{
const char *filepath = "testdata/sumd_data.txt";
warnx("loading data from: %s", filepath);
FILE *fp;
fp = fopen(filepath, "rt");
//ASSERT_TRUE(fp);
float f;
unsigned x;
int ret;
// Trash the first 20 lines
for (unsigned i = 0; i < 20; i++) {
char buf[200];
(void)fgets(buf, sizeof(buf), fp);
}
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");
}
uint8_t b = static_cast<uint8_t>(x);
last_time = f;
// Pipe the data into the parser
//hrt_abstime now = hrt_absolute_time();
uint8_t rssi;
uint8_t rx_count;
uint16_t channel_count;
uint16_t channels[32];
if (!sumd_decode(b, &rssi, &rx_count, &channel_count, channels, 32)) {
//warnx("decoded: %u channels (converted to PPM range)", (unsigned)channel_count);
for (unsigned i = 0; i < channel_count; i++) {
//int16_t val = channels[i];
//warnx("channel %u: %d 0x%03X", i, static_cast<int>(val), static_cast<int>(val));
}
}
}
ASSERT_EQ(EOF, ret);
}