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Mixer test: Fix test, failing right now but showing the real issues

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This commit is contained in:
Lorenz Meier
2017-01-01 17:00:23 +01:00
committed by Daniel Agar
parent 8cc261a148
commit fb8243d5e1
2 changed files with 116 additions and 74 deletions
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188
src/systemcmds/tests/test_mixer.cpp
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@@ -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 <unit_test/unit_test.h>
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