Mixer test: use real defines from IO firmware

We use the real defines now and test them against every mixer on the system. This means we should catch transfer errors now before even hitting master.

src/systemcmds/tests/test_mixer.cpp

@@ -45,6 +45,7 @@
 #include <stdlib.h>
 #include <unistd.h>
 #include <fcntl.h>
+#include <dirent.h>
 #include <errno.h>
 #include <string.h>
 #include <time.h>
@@ -55,6 +56,8 @@
 #include <systemlib/pwm_limit/pwm_limit.h>
 #include <drivers/drv_hrt.h>
 #include <drivers/drv_pwm_output.h>
+#include <px4iofirmware/mixer.h>
+#include <px4iofirmware/protocol.h>
 
 #include <uORB/topics/actuator_controls.h>
 
@@ -85,6 +88,12 @@ static bool should_prearm = false;
 #define MIXER_PATH(_file) "ROMFS/px4fmu_test/mixers/"#_file
 #endif
 
+#if !defined(CONFIG_ARCH_BOARD_SITL)
+#define MIXER_ONBOARD_PATH(_file) "/etc/mixers/"#_file
+#else
+#define MIXER_ONBOARD_PATH(_file) "ROMFS/px4fmu_common/mixers/"#_file
+#endif
+
 #define MIXER_VERBOSE
 
 class MixerTest : public UnitTest
@@ -100,8 +109,10 @@ private:
 	bool loadVTOL2Test();
 	bool loadQuadTest();
 	bool loadComplexTest();
+	bool loadAllTest();
 	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);
+	bool load_mixer(const char *filename, const char *buf, unsigned loaded, unsigned expected_count,
+			const unsigned chunk_size, bool verbose);
 
 	MixerGroup mixer_group;
 };
@@ -118,6 +129,7 @@ bool MixerTest::run_tests(void)
 	ut_run_test(loadVTOL1Test);
 	ut_run_test(loadVTOL2Test);
 	ut_run_test(loadComplexTest);
+	ut_run_test(loadAllTest);
 	ut_run_test(mixerTest);
 
 	return (_tests_failed == 0);
@@ -150,6 +162,74 @@ bool MixerTest::loadComplexTest()
 	return load_mixer(MIXER_PATH(complex_test.mix), 8);
 }
 
+bool MixerTest::loadAllTest()
+{
+	PX4_INFO("Testing all mixers in %s", MIXER_ONBOARD_PATH());
+
+	DIR *dp = opendir(MIXER_ONBOARD_PATH());
+
+	if (dp == nullptr) {
+		PX4_ERR("File open failed");
+		// this is not an FTP error, abort directory by simulating eof
+		return false;
+	}
+
+	struct dirent *result = nullptr;
+
+	// move to the requested offset
+	//seekdir(dp, payload->offset);
+
+	for (;;) {
+		errno = 0;
+		result = readdir(dp);
+
+		// read the directory entry
+		if (result == nullptr) {
+			if (errno) {
+				PX4_ERR("readdir failed");
+				closedir(dp);
+
+				return false;
+			}
+
+			// We are just at the last directory entry
+			break;
+		}
+
+		// Determine the directory entry type
+		switch (result->d_type) {
+#ifdef __PX4_NUTTX
+
+		case DTYPE_FILE:
+#else
+		case DT_REG:
+#endif
+			if (strncmp(result->d_name, ".", 1) != 0) {
+
+				char buf[200];
+				(void)strncpy(&buf[0], MIXER_ONBOARD_PATH(), sizeof(buf));
+				(void)strncpy(&buf[strlen(MIXER_ONBOARD_PATH())], result->d_name, sizeof(buf));
+
+				bool ret = load_mixer(buf, 0);
+
+				if (!ret) {
+					PX4_ERR("Error testing mixer %s", buf);
+					return false;
+				}
+			}
+
+			break;
+
+		default:
+			break;
+		}
+	}
+
+	closedir(dp);
+
+	return true;
+}
+
 bool MixerTest::load_mixer(const char *filename, unsigned expected_count, bool verbose)
 {
 	char buf[2048];
@@ -162,8 +242,8 @@ bool MixerTest::load_mixer(const char *filename, unsigned expected_count, bool v
 	}
 
 	// Test a number of chunk sizes
-	for (unsigned chunk_size = 16; chunk_size < 70; chunk_size++) {
-		bool ret = load_mixer(buf, loaded, expected_count, chunk_size, verbose);
+	for (unsigned chunk_size = 6; chunk_size < PX4IO_MAX_TRANSFER_LEN + 1; chunk_size++) {
+		bool ret = load_mixer(filename, buf, loaded, expected_count, chunk_size, verbose);
 
 		if (!ret) {
 			PX4_ERR("Mixer load failed with chunk size %u", chunk_size);
@@ -174,7 +254,8 @@ bool MixerTest::load_mixer(const char *filename, unsigned expected_count, bool v
 	return true;
 }
 
-bool MixerTest::load_mixer(const char *buf, unsigned loaded, unsigned expected_count, const unsigned chunk_size,
+bool MixerTest::load_mixer(const char *filename, const char *buf, unsigned loaded, unsigned expected_count,
+			   const unsigned chunk_size,
 			   bool verbose)
 {
 
@@ -188,7 +269,10 @@ bool MixerTest::load_mixer(const char *buf, unsigned loaded, unsigned expected_c
 	unsigned xx = loaded;
 	mixer_group.reset();
 	mixer_group.load_from_buf(&buf[0], xx);
-	ut_compare("check number of mixers loaded", mixer_group.count(), expected_count);
+
+	if (expected_count > 0) {
+		ut_compare("check number of mixers loaded", mixer_group.count(), expected_count);
+	}
 
 	unsigned empty_load = 2;
 	char empty_buf[2];
@@ -206,7 +290,7 @@ bool MixerTest::load_mixer(const char *buf, unsigned loaded, unsigned expected_c
 	/* FIRST mark the mixer as invalid */
 	/* THEN actually delete it */
 	mixer_group.reset();
-	char mixer_text[200];		/* large enough for one mixer */
+	char mixer_text[PX4IO_MAX_MIXER_LENGHT];		/* large enough for one mixer */
 	unsigned mixer_text_length = 0;
 
 	unsigned transmitted = 0;
@@ -217,7 +301,8 @@ bool MixerTest::load_mixer(const char *buf, unsigned loaded, unsigned expected_c
 
 		/* check for overflow - this would be really fatal */
 		if ((mixer_text_length + text_length + 1) > sizeof(mixer_text)) {
-			PX4_ERR("Mixer text length overflow");
+			PX4_ERR("Mixer text length overflow for file: %s. Is PX4IO_MAX_MIXER_LENGHT too small? (curr len: %d)", filename,
+				PX4IO_MAX_MIXER_LENGHT);
 			return false;
 		}
 
@@ -254,7 +339,9 @@ bool MixerTest::load_mixer(const char *buf, unsigned loaded, unsigned expected_c
 		PX4_INFO("chunked load: loaded %u mixers", mixer_group.count());
 	}
 
-	ut_compare("check number of mixers loaded", mixer_group.count(), expected_count);
+	if (expected_count > 0) {
+		ut_compare("check number of mixers loaded", mixer_group.count(), expected_count);
+	}
 
 	return true;
 }

src/systemcmds/tests/test_uart_baudchange.c

@@ -77,16 +77,17 @@ int test_uart_baudchange(int argc, char *argv[])
 
 	int ret;
 
-#define UART_BAUDRATE_RUNTIME_CONF
-#ifdef UART_BAUDRATE_RUNTIME_CONF
-
 	if ((termios_state = tcgetattr(uart2, &uart2_config)) < 0) {
 		printf("ERROR getting termios config for UART2: %d\n", termios_state);
 		ret = termios_state;
 		goto cleanup;
 	}
 
-	memcpy(&uart2_config_original, &uart2_config, sizeof(struct termios));
+	if ((termios_state = tcgetattr(uart2, &uart2_config)) < 0) {
+		printf("ERROR getting termios config for UART2: %d\n", termios_state);
+		ret = termios_state;
+		goto cleanup;
+	}
 
 	/* Set baud rate */
 	if (cfsetispeed(&uart2_config, B9600) < 0 || cfsetospeed(&uart2_config, B9600) < 0) {
@@ -108,8 +109,6 @@ int test_uart_baudchange(int argc, char *argv[])
 		goto cleanup;
 	}
 
-#endif
-
 	uint8_t sample_uart2[] = {'U', 'A', 'R', 'T', '2', ' ', '#', 0, '\n'};
 
 	int i, r;