forked from Archive/PX4-Autopilot
75 lines
1.5 KiB
C++
75 lines
1.5 KiB
C++
#include <stdio.h>
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#include <string.h>
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#include <unistd.h>
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#include "../../src/systemcmds/tests/tests.h"
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#include <drivers/drv_hrt.h>
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// Enable DSM parser output
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#define DSM_DEBUG
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#include <rc/dsm.h>
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#include <systemlib/err.h>
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#include <systemlib/mixer/mixer.h>
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#include "gtest/gtest.h"
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TEST(DSMTest, DSM)
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{
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const char *filepath = "testdata/dsm_x_data.txt";
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FILE *fp;
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fp = fopen(filepath, "rt");
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ASSERT_TRUE(fp);
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warnx("loading data from: %s", filepath);
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float f;
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unsigned x;
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int ret;
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// Trash the first 20 lines
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for (unsigned i = 0; i < 20; i++) {
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char buf[200];
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(void)fgets(buf, sizeof(buf), fp);
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}
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// Init the parser
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uint8_t frame[20];
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uint16_t rc_values[18];
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uint16_t num_values;
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bool dsm_11_bit;
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unsigned dsm_frame_drops = 0;
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uint16_t max_channels = sizeof(rc_values) / sizeof(rc_values[0]);
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int rate_limiter = 0;
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unsigned last_drop = 0;
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while (EOF != (ret = fscanf(fp, "%f,%x,,", &f, &x))) {
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ASSERT_GT(ret, 0);
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frame[0] = x;
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unsigned len = 1;
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// Pipe the data into the parser
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bool result = dsm_parse(f*1e6, &frame[0], len, rc_values, &num_values,
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&dsm_11_bit, &dsm_frame_drops, max_channels);
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if (result) {
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warnx("decoded packet with %d channels and %s encoding:", num_values, (dsm_11_bit) ? "11 bit" : "10 bit");
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for (unsigned i = 0; i < num_values; i++) {
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printf("chan #%u:\t%d\n", i, (int)rc_values[i]);
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}
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}
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if (last_drop != (dsm_frame_drops)) {
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warnx("frame dropped, now #%d", (dsm_frame_drops));
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last_drop = dsm_frame_drops;
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}
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rate_limiter++;
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}
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ASSERT_EQ(ret, EOF);
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}
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