diff --git a/src/systemcmds/tests/test_mixer.cpp b/src/systemcmds/tests/test_mixer.cpp index 3b2134525e..3f008e2e31 100644 --- a/src/systemcmds/tests/test_mixer.cpp +++ b/src/systemcmds/tests/test_mixer.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2013 PX4 Development Team. All rights reserved. + * Copyright (c) 2013, 2017 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -60,6 +60,8 @@ #include "tests_main.h" +#include + static int mixer_callback(uintptr_t handle, uint8_t control_group, uint8_t control_index, @@ -77,50 +79,82 @@ static bool should_prearm = false; #define MIXER_DIFFERENCE_THRESHOLD 2 #endif -int test_mixer(int argc, char *argv[]) -{ - /* - * PWM limit structure - */ - pwm_limit_t pwm_limit; - bool should_arm = false; - uint16_t r_page_servo_disarmed[output_max]; - uint16_t r_page_servo_control_min[output_max]; - uint16_t r_page_servo_control_max[output_max]; - uint16_t r_page_servos[output_max]; - uint16_t servo_predicted[output_max]; - int16_t reverse_pwm_mask = 0; - - //PX4_INFO("testing mixer"); - #if !defined(CONFIG_ARCH_BOARD_SITL) - const char *filename = "/etc/mixers/IO_pass.mix"; +#define MIXER_PATH(_file) "/etc/mixers/"#_file #else - const char *filename = "ROMFS/px4fmu_test/mixers/IO_pass.mix"; +#define MIXER_PATH(_file) "ROMFS/px4fmu_test/mixers/"#_file #endif - //PX4_INFO("loading: %s", filename); +#define MIXER_VERBOSE - char buf[2048]; +class MixerTest : public UnitTest +{ +public: + virtual bool run_tests(void); + MixerTest(); + +private: + bool mixerTest(); + bool loadIOPass(); + bool loadQuadTest(); + bool load_mixer(const char *filename, unsigned expected_count, bool verbose = false); + bool load_mixer(const char *buf, unsigned loaded, unsigned expected_count, const unsigned chunk_size, bool verbose); + + MixerGroup mixer_group; +}; + +MixerTest::MixerTest() : UnitTest(), + mixer_group(mixer_callback, 0) +{ +} + +bool MixerTest::run_tests(void) +{ + ut_run_test(loadIOPass); + ut_run_test(loadQuadTest); + ut_run_test(mixerTest); + + return (_tests_failed == 0); +} + +ut_declare_test_c(test_mixer, MixerTest) + +bool MixerTest::load_mixer(const char *filename, unsigned expected_count, bool verbose) +{ + char buf[2048]; load_mixer_file(filename, &buf[0], sizeof(buf)); unsigned loaded = strlen(buf); - //fprintf(stderr, "loaded: \n\"%s\"\n (%d chars)", &buf[0], loaded); + PX4_INFO("loaded: \n\"%s\"\n (file: %s, %d chars)", &buf[0], filename, loaded); + + // Test a number of chunk sizes + for (unsigned chunk_size = 8; chunk_size < 70; chunk_size++) { + bool ret = load_mixer(buf, loaded, expected_count, chunk_size, verbose); + + if (!ret) { + return ret; + } + } + + return true; +} + +bool MixerTest::load_mixer(const char *buf, unsigned loaded, unsigned expected_count, const unsigned chunk_size, + bool verbose) +{ + /* load the mixer in chunks, like * in the case of a remote load, * e.g. on PX4IO. */ - const unsigned chunk_size = 64; - - MixerGroup mixer_group(mixer_callback, 0); - /* load at once test */ unsigned xx = loaded; + mixer_group.reset(); mixer_group.load_from_buf(&buf[0], xx); - //ASSERT_EQ(mixer_group.count(), 8); + ut_compare("check number of mixers loaded", mixer_group.count(), expected_count); unsigned empty_load = 2; char empty_buf[2]; @@ -128,14 +162,13 @@ int test_mixer(int argc, char *argv[]) empty_buf[1] = '\0'; mixer_group.reset(); mixer_group.load_from_buf(&empty_buf[0], empty_load); - //PX4_INFO("empty buffer load: loaded %u mixers, used: %u", mixer_group.count(), empty_load); - //ASSERT_NE(empty_load, 0); - - if (empty_load != 0) { - return 1; + if (verbose) { + PX4_INFO("empty buffer load: loaded %u mixers, used: %u", mixer_group.count(), empty_load); } + ut_compare("empty buffer load", empty_load, 0); + /* FIRST mark the mixer as invalid */ /* THEN actually delete it */ mixer_group.reset(); @@ -144,7 +177,9 @@ int test_mixer(int argc, char *argv[]) unsigned transmitted = 0; - //PX4_INFO("transmitted: %d, loaded: %d", transmitted, loaded); + if (verbose) { + PX4_INFO("transmitted: %d, loaded: %d", transmitted, loaded); + } while (transmitted < loaded) { @@ -152,7 +187,7 @@ int test_mixer(int argc, char *argv[]) /* check for overflow - this would be really fatal */ if ((mixer_text_length + text_length + 1) > sizeof(mixer_text)) { - return 1; + return false; } /* append mixer text and nul-terminate */ @@ -167,7 +202,7 @@ int test_mixer(int argc, char *argv[]) /* if anything was parsed */ if (resid != mixer_text_length) { - //fprintf(stderr, "used %u", mixer_text_length - resid); + //fprintf(stderr, "used %u\n", mixer_text_length - resid); /* copy any leftover text to the base of the buffer for re-use */ if (resid > 0) { @@ -180,10 +215,43 @@ int test_mixer(int argc, char *argv[]) transmitted += text_length; } - //PX4_INFO("chunked load: loaded %u mixers", mixer_group.count()); + if (verbose) { + PX4_INFO("chunked load: loaded %u mixers", mixer_group.count()); + } - if (mixer_group.count() != 8) { - return 1; + ut_compare("check number of mixers loaded", mixer_group.count(), expected_count); + + return true; +} + +bool MixerTest::loadIOPass() +{ + return load_mixer(MIXER_PATH(IO_pass.mix), 8); +} + +bool MixerTest::loadQuadTest() +{ + return load_mixer(MIXER_PATH(quad_test.mix), 8); +} + +bool MixerTest::mixerTest() +{ + /* + * PWM limit structure + */ + pwm_limit_t pwm_limit; + bool should_arm = false; + uint16_t r_page_servo_disarmed[output_max]; + uint16_t r_page_servo_control_min[output_max]; + uint16_t r_page_servo_control_max[output_max]; + uint16_t r_page_servos[output_max]; + uint16_t servo_predicted[output_max]; + int16_t reverse_pwm_mask = 0; + + bool load_ok = load_mixer(MIXER_PATH(IO_pass.mix), 8); + + if (!load_ok) { + return load_ok; } /* execute the mixer */ @@ -219,13 +287,13 @@ int test_mixer(int argc, char *argv[]) if (i != actuator_controls_s::INDEX_THROTTLE) { if (r_page_servos[i] < r_page_servo_control_min[i]) { warnx("active servo < min"); - return 1; + return false; } } else { if (r_page_servos[i] != r_page_servo_disarmed[i]) { warnx("throttle output != 0 (this check assumed the IO pass mixer!)"); - return 1; + return false; } } } @@ -261,13 +329,13 @@ int test_mixer(int argc, char *argv[]) if (hrt_elapsed_time(&starttime) < INIT_TIME_US && r_page_servos[i] != r_page_servo_disarmed[i]) { PX4_ERR("disarmed servo value mismatch: %d vs %d", r_page_servos[i], r_page_servo_disarmed[i]); - return 1; + return false; } if (hrt_elapsed_time(&starttime) >= INIT_TIME_US && r_page_servos[i] + 1 <= r_page_servo_disarmed[i]) { PX4_ERR("ramp servo value mismatch"); - return 1; + return false; } } @@ -305,7 +373,7 @@ int test_mixer(int argc, char *argv[]) fprintf(stderr, "\t %d: %8.4f predicted: %d, servo: %d\n", i, (double)outputs[i], servo_predicted[i], (int)r_page_servos[i]); PX4_ERR("mixer violated predicted value"); - return 1; + return false; } } } @@ -332,7 +400,7 @@ int test_mixer(int argc, char *argv[]) /* check mixed outputs to be zero during init phase */ if (r_page_servos[i] != r_page_servo_disarmed[i]) { PX4_ERR("disarmed servo value mismatch"); - return 1; + return false; } } @@ -374,7 +442,7 @@ int test_mixer(int argc, char *argv[]) (r_page_servos[i] + 1 <= r_page_servo_disarmed[i] || r_page_servos[i] > servo_predicted[i])) { PX4_ERR("ramp servo value mismatch"); - return 1; + return false; } /* check post ramp phase */ @@ -382,7 +450,7 @@ int test_mixer(int argc, char *argv[]) abs(servo_predicted[i] - r_page_servos[i]) > 2) { printf("\t %d: %8.4f predicted: %d, servo: %d\n", i, (double)outputs[i], servo_predicted[i], (int)r_page_servos[i]); PX4_ERR("mixer violated predicted value"); - return 1; + return false; } } @@ -395,33 +463,7 @@ int test_mixer(int argc, char *argv[]) } } - //printf("\n"); - - /* load multirotor at once test */ - mixer_group.reset(); - -#if !defined(CONFIG_ARCH_BOARD_SITL) - filename = "/etc/mixers/quad_test.mix"; -#else - filename = "ROMFS/px4fmu_test/mixers/quad_test.mix"; -#endif - - load_mixer_file(filename, &buf[0], sizeof(buf)); - loaded = strlen(buf); - - //fprintf(stderr, "loaded: \n\"%s\"\n (%d chars)", &buf[0], loaded); - - unsigned mc_loaded = loaded; - mixer_group.load_from_buf(&buf[0], mc_loaded); - //PX4_INFO("complete buffer load: loaded %u mixers", mixer_group.count()); - - if (mixer_group.count() != 5) { - PX4_ERR("FAIL: Quad test mixer load failed"); - return 1; - } - - //PX4_INFO("SUCCESS: No errors in mixer test"); - return 0; + return true; } static int diff --git a/src/systemcmds/tests/tests_main.c b/src/systemcmds/tests/tests_main.c index fb77b9144c..d506e21584 100644 --- a/src/systemcmds/tests/tests_main.c +++ b/src/systemcmds/tests/tests_main.c @@ -99,8 +99,8 @@ const struct { #ifndef __PX4_DARWIN {"uorb", uorb_tests_main, 0}, {"hysteresis", test_hysteresis, 0}, - {"mixer", test_mixer, OPT_NOJIGTEST}, #endif /* __PX4_DARWIN */ + {"mixer", test_mixer, OPT_NOJIGTEST}, {"autodeclination", test_autodeclination, 0}, {"bson", test_bson, 0}, {"conv", test_conv, 0},