Exemple #1
0
bool RCTest::dsmTest(const char *filepath, unsigned expected_chancount, unsigned expected_dropcount, unsigned chan0)
{

	FILE *fp;
	fp = fopen(filepath, "rt");

	ut_test(fp != nullptr);
	//PX4_INFO("loading data from: %s", filepath);

	float f;
	unsigned x;
	int ret;

	// Trash the first 20 lines
	for (unsigned i = 0; i < 20; i++) {
		char buf[200];
		(void)fgets(buf, sizeof(buf), fp);
	}

	// Init the parser
	uint8_t frame[30];
	uint16_t rc_values[18];
	uint16_t num_values;
	bool dsm_11_bit;
	unsigned dsm_frame_drops = 0;
	uint16_t max_channels = sizeof(rc_values) / sizeof(rc_values[0]);

	int rate_limiter = 0;
	unsigned last_drop = 0;

	dsm_proto_init();

	while (EOF != (ret = fscanf(fp, "%f,%x,,", &f, &x))) {

		if (ret <= 0) {
			fclose(fp);
			ut_test(ret > 0);
		}

		frame[0] = x;
		unsigned len = 1;

		// Pipe the data into the parser
		bool result = dsm_parse(f * 1e6f, &frame[0], len, rc_values, &num_values,
					&dsm_11_bit, &dsm_frame_drops, max_channels);

		if (result) {
			ut_test(num_values == expected_chancount);

			ut_test(abs((int)chan0 - (int)rc_values[0]) < 30);

			//PX4_INFO("decoded packet with %d channels and %s encoding:", num_values, (dsm_11_bit) ? "11 bit" : "10 bit");

			for (unsigned i = 0; i < num_values; i++) {
				//PX4_INFO("chan #%u:\t%d", i, (int)rc_values[i]);
			}
		}

		if (last_drop != (dsm_frame_drops)) {
			PX4_INFO("frame dropped, now #%d", (dsm_frame_drops));
			last_drop = dsm_frame_drops;
		}

		rate_limiter++;
	}

	fclose(fp);

	ut_test(ret == EOF);
	PX4_INFO("drop: %d", (int)last_drop);
	ut_test(last_drop == expected_dropcount);

	return true;
}
Exemple #2
0
bool RCTest::dsmTest(void)
{

	const char *filepath = TEST_DATA_PATH "dsm_x_data.txt";

	FILE *fp;
	fp = fopen(filepath, "rt");

	ut_test(fp != nullptr);
	//warnx("loading data from: %s", filepath);

	float f;
	unsigned x;
	int ret;

	// Trash the first 20 lines
	for (unsigned i = 0; i < 20; i++) {
		char buf[200];
		(void)fgets(buf, sizeof(buf), fp);
	}

	// Init the parser
	uint8_t frame[20];
	uint16_t rc_values[18];
	uint16_t num_values;
	bool dsm_11_bit;
	unsigned dsm_frame_drops = 0;
	uint16_t max_channels = sizeof(rc_values) / sizeof(rc_values[0]);

	int rate_limiter = 0;
	unsigned last_drop = 0;

	while (EOF != (ret = fscanf(fp, "%f,%x,,", &f, &x))) {

		ut_test(ret > 0);

		frame[0] = x;
		unsigned len = 1;

		// Pipe the data into the parser
		bool result = dsm_parse(f * 1e6f, &frame[0], len, rc_values, &num_values,
					&dsm_11_bit, &dsm_frame_drops, max_channels);

		if (result) {
			//warnx("decoded packet with %d channels and %s encoding:", num_values, (dsm_11_bit) ? "11 bit" : "10 bit");

			for (unsigned i = 0; i < num_values; i++) {
				//printf("chan #%u:\t%d\n", i, (int)rc_values[i]);
			}
		}

		if (last_drop != (dsm_frame_drops)) {
			//warnx("frame dropped, now #%d", (dsm_frame_drops));
			last_drop = dsm_frame_drops;
		}

		rate_limiter++;
	}

	ut_test(ret == EOF);

	return true;
}