bool MixerTest::load_mixer(const char *filename, 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.
*/
/* load at once test */
unsigned xx = loaded;
mixer_group.reset();
mixer_group.load_from_buf(&buf[0], xx);
if (expected_count > 0) {
ut_compare("check number of mixers loaded", mixer_group.count(), expected_count);
}
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);
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);
/* reset, load in chunks */
mixer_group.reset();
char mixer_text[PX4IO_MAX_MIXER_LENGHT]; /* large enough for one mixer */
unsigned mixer_text_length = 0;
unsigned transmitted = 0;
unsigned resid = 0;
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)) {
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;
}
/* 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';
//fprintf(stderr, "buflen %u, text:\n\"%s\"\n", mixer_text_length, &mixer_text[0]);
/* process the text buffer, adding new mixers as their descriptions can be parsed */
resid = mixer_text_length;
mixer_group.load_from_buf(&mixer_text[0], resid);
/* if anything was parsed */
if (resid != mixer_text_length) {
//PX4_INFO("loaded %d mixers, used %u\n", mixer_group.count(), mixer_text_length - resid);
/* copy any leftover text to the base of the buffer for re-use */
if (resid > 0) {
memmove(&mixer_text[0], &mixer_text[mixer_text_length - resid], resid);
/* enforce null termination */
mixer_text[resid] = '\0';
}
mixer_text_length = resid;
}
transmitted += text_length;
if (verbose) {
PX4_INFO("transmitted: %d, loaded: %d", transmitted, loaded);
}
}
if (verbose) {
PX4_INFO("chunked load: loaded %u mixers", mixer_group.count());
}
if (expected_count > 0 && mixer_group.count() != expected_count) {
PX4_ERR("Load of mixer failed, last chunk: %s, transmitted: %u, text length: %u, resid: %u", mixer_text, transmitted,
mixer_text_length, resid);
ut_compare("check number of mixers loaded (chunk)", mixer_group.count(), expected_count);
}
return true;
}
