PX4-Autopilot/src/systemcmds/tests/test_mixer.cpp

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/**
 * @file test_mixer.hpp
 *
 * Mixer load test
 */

#include <nuttx/config.h>

#include <sys/types.h>

#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <fcntl.h>
#include <errno.h>
#include <string.h>
#include <time.h>

#include <systemlib/err.h>
#include <systemlib/mixer/mixer.h>

#include "tests.h"

static int	mixer_callback(uintptr_t handle,
			       uint8_t control_group,
			       uint8_t control_index,
			       float &control);

int test_mixer(int argc, char *argv[])
{
	warnx("testing mixer");

	char *filename = "/etc/mixers/IO_pass.mix";

	if (argc > 1)
		filename = argv[1];

	warnx("loading: %s", filename);

	char		buf[2048];

	load_mixer_file(filename, &buf[0], sizeof(buf));
	unsigned loaded = strlen(buf);

	warnx("loaded: \n\"%s\"\n (%d chars)", &buf[0], loaded);

	/* load the mixer in chunks, like
	 * in the case of a remote load,
	 * e.g. on PX4IO.
	 */

	unsigned nused = 0;

	const unsigned chunk_size = 64;

	MixerGroup mixer_group(mixer_callback, 0);

	/* load at once test */
	unsigned xx = loaded;
	mixer_group.load_from_buf(&buf[0], xx);
	warnx("complete buffer load: loaded %u mixers", mixer_group.count());
	if (mixer_group.count() != 8)
		return 1;

	unsigned empty_load = 2;
	char empty_buf[2];
	empty_buf[0] = ' ';
	empty_buf[1] = '\0';
	mixer_group.reset();
	mixer_group.load_from_buf(&empty_buf[0], empty_load);
	warnx("empty buffer load: loaded %u mixers, used: %u", mixer_group.count(), empty_load);
	if (empty_load != 0)
		return 1;

	/* FIRST mark the mixer as invalid */
	bool mixer_ok = false;
	/* THEN actually delete it */
	mixer_group.reset();
	char mixer_text[256];		/* large enough for one mixer */
	unsigned mixer_text_length = 0;

	unsigned transmitted = 0;

	warnx("transmitted: %d, loaded: %d", transmitted, loaded);

	while (transmitted < loaded) {

		unsigned	text_length = (loaded - transmitted > chunk_size) ? chunk_size : loaded - transmitted;

		/* check for overflow - this would be really fatal */
		if ((mixer_text_length + text_length + 1) > sizeof(mixer_text)) {
			bool mixer_ok = false;
			return 1;
		}

		/* append mixer text and nul-terminate */
		memcpy(&mixer_text[mixer_text_length], &buf[transmitted], text_length);
		mixer_text_length += text_length;
		mixer_text[mixer_text_length] = '\0';
		warnx("buflen %u, text:\n\"%s\"", mixer_text_length, &mixer_text[0]);

		/* process the text buffer, adding new mixers as their descriptions can be parsed */
		unsigned resid = mixer_text_length;
		mixer_group.load_from_buf(&mixer_text[0], resid);

		/* if anything was parsed */
		if (resid != mixer_text_length) {

			/* only set mixer ok if no residual is left over */
			if (resid == 0) {
				mixer_ok = true;
			} else {
				/* not yet reached the end of the mixer, set as not ok */
				mixer_ok = false;
			}

			warnx("used %u", mixer_text_length - resid);

			/* copy any leftover text to the base of the buffer for re-use */
			if (resid > 0)
				memcpy(&mixer_text[0], &mixer_text[mixer_text_length - resid], resid);

			mixer_text_length = resid;
		}

		transmitted += text_length;
	}

	warnx("chunked load: loaded %u mixers", mixer_group.count());

	if (mixer_group.count() != 8)
		return 1;

	/* load multirotor at once test */
	mixer_group.reset();

	if (argc > 2)
		filename = argv[2];
	else
		filename = "/etc/mixers/FMU_quad_w.mix";

	load_mixer_file(filename, &buf[0], sizeof(buf));
	loaded = strlen(buf);

	warnx("loaded: \n\"%s\"\n (%d chars)", &buf[0], loaded);

	unsigned mc_loaded = loaded;
	mixer_group.load_from_buf(&buf[0], mc_loaded);
	warnx("complete buffer load: loaded %u mixers", mixer_group.count());
	if (mixer_group.count() != 8)
		return 1;
}

static int
mixer_callback(uintptr_t handle,
	       uint8_t control_group,
	       uint8_t control_index,
	       float &control)
{
	if (control_group != 0)
		return -1;

	control = 0.0f;

	return 0;
}