int
main(int argc, char **argv) {
sg_log_init("libstatgrab-test", "SGTEST_LOG_PROPERTIES", argc ? argv[0] : NULL);
sg_init(1);
if( 0 != get_params( opt_def, argc, argv ) ) {
help(argv[0]);
return 1;
}
if( opt_def[OPT_HLP].optarg.b ) {
help(argv[0]);
return 0;
}
else if( opt_def[OPT_LIST].optarg.b ) {
print_testable_functions(0);
return 0;
}
else if( opt_def[OPT_RUN].optarg.str ) {
size_t *test_routines = NULL;
size_t entries = funcnames_to_indices(opt_def[OPT_RUN].optarg.str, &test_routines, 0);
int errors = 0;
if( 0 == entries ) {
die( ESRCH, "no functions to test" );
return 255;
}
while( opt_def[OPT_NLOOPS].optarg.u-- > 0 ) {
size_t func_rel_idx;
for( func_rel_idx = 0; func_rel_idx < entries; ++func_rel_idx ) {
mark_func(test_routines[func_rel_idx]);
if( !run_func( test_routines[func_rel_idx], 0 ) ) {
done_func(test_routines[func_rel_idx], 0);
++errors;
}
else {
done_func(test_routines[func_rel_idx], 1);
}
}
}
(void)report_testable_functions(0);
free(test_routines);
return errors;
}
help(argv[0]);
return 1;
}
static void icuwidthcb(ICUDriver *icup) {
last_len_received[0] = ((float)icuGetWidthX(icup) / ((float)TIMER_FREQ / 1000.0));
float len = last_len_received[0] - pulse_start;
const float len_set = (pulse_end - pulse_start);
if (len > len_set) {
if (len < (len_set * 1.2)) {
len = len_set;
} else {
// Too long pulse. Most likely something is wrong.
len = -1.0;
}
} else if (len < 0.0) {
if ((len + pulse_start) > (pulse_start * 0.8)) {
len = 0.0;
} else {
// Too short pulse. Most likely something is wrong.
len = -1.0;
}
}
if (len >= 0.0) {
if (use_median_filter) {
float c = (len * 2.0 - len_set) / len_set;
static float c1 = 0.5;
static float c2 = 0.5;
float med = utils_middle_of_3(c, c1, c2);
c2 = c1;
c1 = c;
servo_pos[0] = med;
} else {
servo_pos[0] = (len * 2.0 - len_set) / len_set;
}
last_update_time = chVTGetSystemTime();
if (done_func) {
done_func();
}
}
}
void *
threadfunc(void *parm)
{
int rc, success;
size_t func_idx = *((size_t *)parm);
rc = pthread_mutex_lock(&mutex);
prove_libcall("pthread_mutex_lock", rc);
++test_counter;
while (!conditionMet) {
TRACE_LOG( "multi_threaded", "Thread blocked" );
rc = pthread_cond_wait(&cond, &mutex);
prove_libcall("pthread_cond_wait", rc);
}
if( !opt_def[OPT_SEQ].optarg.b ) {
rc = pthread_mutex_unlock(&mutex);
prove_libcall("pthread_mutex_unlock", rc);
}
success = run_func( func_idx, 0 );
if( !opt_def[OPT_SEQ].optarg.b ) {
rc = pthread_mutex_lock(&mutex);
prove_libcall("pthread_mutex_lock", rc);
}
done_func(func_idx, success);
rc = pthread_mutex_unlock(&mutex);
prove_libcall("pthread_mutex_unlock", rc);
pthread_cond_signal(&cond);
return NULL;
}
