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Updated and fixed parser for SF02/F laser sensor, test harness runs clean

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This commit is contained in:
Lorenz Meier 2014-10-07 12:46:09 +02:00
parent 8d187cc2fa
commit 72fbd76c84
6 changed files with 222 additions and 115 deletions
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1
Tools/tests-host/.gitignore vendored
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@ -1,4 +1,5 @@
./obj/*
mixer_test
sf0x_test
sbus2_test
autodeclination_test

5
Tools/tests-host/Makefile
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@ -22,9 +22,10 @@ SBUS2_FILES=../../src/modules/px4iofirmware/sbus.c \
SF0X_FILES= \
hrt.cpp \
sf0x_test.cpp
sf0x_test.cpp \
../../src/drivers/sf0x/sf0x_parser.cpp
AUTODECLINATION_FILES= ../../src/lib/geo/geo_mag_declination.c \
AUTODECLINATION_FILES= ../../src/lib/geo_lookup/geo_mag_declination.c \
hrt.cpp \
autodeclination_test.cpp

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Tools/tests-host/sf0x_test
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137
Tools/tests-host/sf0x_test.cpp
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@ -1,152 +1,63 @@
#include <stdio.h>
#include <unistd.h>
#include <string.h>
#include <stdlib.h>
#include <stdio.h>
#include <systemlib/err.h>
#include <drivers/drv_hrt.h>
enum SF0X_PARSE_STATE {
SF0X_PARSE_STATE0_UNSYNC = 0,
SF0X_PARSE_STATE1_SYNC,
SF0X_PARSE_STATE2_GOT_DIGIT0,
SF0X_PARSE_STATE3_GOT_DOT,
SF0X_PARSE_STATE4_GOT_DIGIT1,
SF0X_PARSE_STATE5_GOT_DIGIT2,
SF0X_PARSE_STATE6_GOT_CARRIAGE_RETURN
};
int sf0x_parser(char c, char *parserbuf, unsigned *parserbuf_index, enum *SF0X_PARSE_STATE state, float *dist)
{
int ret = -1;
unsigned len = strlen(parserbuf);
switch (state) {
case SF0X_PARSE_STATE0_UNSYNC:
if (c == '\n') {
*state = SF0X_PARSE_STATE1_SYNC;
*parserbuf_index = 0;
}
break;
case SF0X_PARSE_STATE1_SYNC:
if (c >= '0' && c <= '9') {
*state = SF0X_PARSE_STATE2_GOT_DIGIT0;
parserbuf[parserbuf_index] = c;
parserbuf_index++;
}
break;
case SF0X_PARSE_STATE2_GOT_DIGIT0:
if (c >= '0' && c <= '9') {
*state = SF0X_PARSE_STATE2_GOT_DIGIT0;
parserbuf[parserbuf_index] = c;
parserbuf_index++;
} else if (c == '.') {
*state = SF0X_PARSE_STATE3_GOT_DOT;
parserbuf[parserbuf_index] = c;
parserbuf_index++;
} else {
*state = SF0X_PARSE_STATE0_UNSYNC;
}
break;
case SF0X_PARSE_STATE3_GOT_DOT:
if (c >= '0' && c <= '9') {
*state = SF0X_PARSE_STATE4_GOT_DIGIT1;
parserbuf[parserbuf_index] = c;
parserbuf_index++;
} else {
*state = SF0X_PARSE_STATE0_UNSYNC;
}
break;
case SF0X_PARSE_STATE4_GOT_DIGIT1:
if (c >= '0' && c <= '9') {
*state = SF0X_PARSE_STATE4_GOT_DIGIT2;
parserbuf[parserbuf_index] = c;
parserbuf_index++;
} else {
*state = SF0X_PARSE_STATE0_UNSYNC;
}
break;
case SF0X_PARSE_STATE5_GOT_DIGIT2:
if (c == '\r') {
*state = SF0X_PARSE_STATE6_GOT_CARRIAGE_RETURN;
} else {
*state = SF0X_PARSE_STATE0_UNSYNC;
}
break;
case SF0X_PARSE_STATE6_GOT_CARRIAGE_RETURN:
if (c == '\n') {
parserbuf[parserbuf_index] = '\0';
*dist = strtod(linebuf, &end);
*state = SF0X_PARSE_STATE0_SYNC;
*parserbuf_index = 0;
ret = 0;
} else {
*state = SF0X_PARSE_STATE0_UNSYNC;
}
break;
}
return ret;
}
#include <drivers/sf0x/sf0x_parser.h>
int main(int argc, char *argv[]) {
warnx("SF0X 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");
int ret = 0;
const char LINE_MAX = 20;
char _linebuf[LINE_MAX];
_linebuf[0] = '\0';
char *end;
const char *lines[] = {"0.01\r\n",
"0.02\r\n",
"0.03\r\n",
"0.04\r\n",
"0",
".",
"0",
"5",
"\r",
"\n",
"0",
"3\r",
"\n"
"\r\n",
"0.06",
"\r\n"
};
enum SF0X_PARSE_STATE state = SF0X_PARSE_STATE0_UNSYNC;
float dist_m;
char _parserbuf[LINE_MAX];
unsigned _parsebuf_index = 0;
while (fgets(_linebuf, LINE_MAX, fp) != NULL) {
for (unsigned l = 0; l < sizeof(lines) / sizeof(lines[0]); l++) {
printf("\n%s", _linebuf);
int parse_ret;
for (int i = 0; i < strlen(_linebuf); i++)
for (int i = 0; i < strlen(lines[l]); i++)
{
printf("%0x ", _linebuf[i]);
parse_ret = sf0x_parser(_linebuf[i], _parserbuf, &_parsebuf_index, &state, &dist_m);
parse_ret = sf0x_parser(lines[l][i], _parserbuf, &_parsebuf_index, &state, &dist_m);
if (parse_ret == 0) {
printf("PARSED!");
printf("\nparsed: %f %s\n", dist_m, (parse_ret == 0) ? "OK" : "");
}
}
printf("%s", lines[l]);
printf("\nparsed: %f %s\n", dist_m, (parse_ret == 0) ? "OK" : "");
}
// Init the parser
if (ret == EOF) {
warnx("Test finished, reached end of file");
} else {

143
src/drivers/sf0x/sf0x_parser.cpp Normal file
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@ -0,0 +1,143 @@
/****************************************************************************
*
* Copyright (c) 2014 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
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file sf0x_parser.cpp
* @author Lorenz Meier <lm@inf.ethz.ch>
*
* Driver for the Lightware SF0x laser rangefinder series
*/
#include "sf0x_parser.h"
#include <string.h>
#include <stdlib.h>
//#define SF0X_DEBUG
#ifdef SF0X_DEBUG
#include <stdio.h>
const char* parser_state[] = {
"0_UNSYNC",
"1_SYNC",
"2_GOT_DIGIT0",
"3_GOT_DOT",
"4_GOT_DIGIT1",
"5_GOT_DIGIT2",
"6_GOT_CARRIAGE_RETURN"
};
#endif
int sf0x_parser(char c, char *parserbuf, unsigned *parserbuf_index, enum SF0X_PARSE_STATE *state, float *dist)
{
int ret = -1;
char *end;
unsigned len = strlen(parserbuf);
switch (*state) {
case SF0X_PARSE_STATE0_UNSYNC:
if (c == '\n') {
*state = SF0X_PARSE_STATE1_SYNC;
(*parserbuf_index) = 0;
}
break;
case SF0X_PARSE_STATE1_SYNC:
if (c >= '0' && c <= '9') {
*state = SF0X_PARSE_STATE2_GOT_DIGIT0;
parserbuf[*parserbuf_index] = c;
(*parserbuf_index)++;
}
break;
case SF0X_PARSE_STATE2_GOT_DIGIT0:
if (c >= '0' && c <= '9') {
*state = SF0X_PARSE_STATE2_GOT_DIGIT0;
parserbuf[*parserbuf_index] = c;
(*parserbuf_index)++;
} else if (c == '.') {
*state = SF0X_PARSE_STATE3_GOT_DOT;
parserbuf[*parserbuf_index] = c;
(*parserbuf_index)++;
} else {
*state = SF0X_PARSE_STATE0_UNSYNC;
}
break;
case SF0X_PARSE_STATE3_GOT_DOT:
if (c >= '0' && c <= '9') {
*state = SF0X_PARSE_STATE4_GOT_DIGIT1;
parserbuf[*parserbuf_index] = c;
(*parserbuf_index)++;
} else {
*state = SF0X_PARSE_STATE0_UNSYNC;
}
break;
case SF0X_PARSE_STATE4_GOT_DIGIT1:
if (c >= '0' && c <= '9') {
*state = SF0X_PARSE_STATE5_GOT_DIGIT2;
parserbuf[*parserbuf_index] = c;
(*parserbuf_index)++;
} else {
*state = SF0X_PARSE_STATE0_UNSYNC;
}
break;
case SF0X_PARSE_STATE5_GOT_DIGIT2:
if (c == '\r') {
*state = SF0X_PARSE_STATE6_GOT_CARRIAGE_RETURN;
} else {
*state = SF0X_PARSE_STATE0_UNSYNC;
}
break;
case SF0X_PARSE_STATE6_GOT_CARRIAGE_RETURN:
if (c == '\n') {
parserbuf[*parserbuf_index] = '\0';
*dist = strtod(parserbuf, &end);
*state = SF0X_PARSE_STATE1_SYNC;
*parserbuf_index = 0;
ret = 0;
} else {
*state = SF0X_PARSE_STATE0_UNSYNC;
}
break;
}
#ifdef SF0X_DEBUG
printf("state: SF0X_PARSE_STATE%s\n", parser_state[*state]);
#endif
return ret;
}

51
src/drivers/sf0x/sf0x_parser.h Normal file
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@ -0,0 +1,51 @@
/****************************************************************************
*
* Copyright (c) 2014 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
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file sf0x_parser.cpp
* @author Lorenz Meier <lm@inf.ethz.ch>
*
* Declarations of parser for the Lightware SF0x laser rangefinder series
*/
enum SF0X_PARSE_STATE {
SF0X_PARSE_STATE0_UNSYNC = 0,
SF0X_PARSE_STATE1_SYNC,
SF0X_PARSE_STATE2_GOT_DIGIT0,
SF0X_PARSE_STATE3_GOT_DOT,
SF0X_PARSE_STATE4_GOT_DIGIT1,
SF0X_PARSE_STATE5_GOT_DIGIT2,
SF0X_PARSE_STATE6_GOT_CARRIAGE_RETURN
};
int sf0x_parser(char c, char *parserbuf, unsigned *parserbuf_index, enum SF0X_PARSE_STATE *state, float *dist);