bool DFListTest::verifyUIntList(DFUIntList &pl, unsigned int check_list[4])
{
bool passed = true;
DFUIntList::Index idx = nullptr;
idx = pl.next(idx);
unsigned int i = 0;
while (idx != nullptr) {
unsigned int val;
bool ret = pl.get(idx, val);
if (ret == false) {
DF_LOG_INFO("get() failed");
passed = false;
}
if (val != check_list[i]) {
DF_LOG_INFO("Expected %c got %c", check_list[i], val);
passed = false;
}
idx = pl.next(idx);
++i;
}
return passed;
}
int start(enum Rotation rotation)
{
g_dev = new DfHmc9250Wrapper(rotation);
if (g_dev == nullptr) {
PX4_ERR("failed instantiating DfHmc9250Wrapper object");
return -1;
}
int ret = g_dev->start();
if (ret != 0) {
PX4_ERR("DfHmc9250Wrapper start failed");
return ret;
}
// Open the MAG sensor
DevHandle h;
DevMgr::getHandle(MAG_DEVICE_PATH, h);
if (!h.isValid()) {
DF_LOG_INFO("Error: unable to obtain a valid handle for the receiver at: %s (%d)",
MAG_DEVICE_PATH, h.getError());
return -1;
}
DevMgr::releaseHandle(h);
return 0;
}
int start()
{
PX4_ERR("start");
g_dev = new DfISL29501Wrapper();
if (g_dev == nullptr) {
PX4_ERR("failed instantiating DfISL29501Wrapper object");
return -1;
}
int ret = g_dev->start();
if (ret != 0) {
PX4_ERR("DfISL29501Wrapper start failed");
return ret;
}
// Open the range sensor
DevHandle h;
DevMgr::getHandle(ISL_DEVICE_PATH, h);
if (!h.isValid()) {
DF_LOG_INFO("Error: unable to obtain a valid handle for the receiver at: %s (%d)",
ISL_DEVICE_PATH, h.getError());
return -1;
}
DevMgr::releaseHandle(h);
return 0;
}
int start(bool mag_enabled, enum Rotation rotation)
{
g_dev = new DfLsm9ds1Wrapper(mag_enabled, rotation);
if (g_dev == nullptr) {
PX4_ERR("failed instantiating DfLsm9ds1Wrapper object");
return -1;
}
int ret = g_dev->start();
if (ret != 0) {
PX4_ERR("DfLsm9ds1Wrapper start failed");
return ret;
}
// Open the IMU sensor
DevHandle h;
DevMgr::getHandle(IMU_DEVICE_ACC_GYRO, h);
if (!h.isValid()) {
DF_LOG_INFO("Error: unable to obtain a valid handle for the receiver at: %s (%d)",
IMU_DEVICE_ACC_GYRO, h.getError());
return -1;
}
DevMgr::releaseHandle(h);
DevMgr::getHandle(IMU_DEVICE_MAG, h);
if (!h.isValid()) {
DF_LOG_INFO("Error: unable to obtain a valid handle for the receiver at: %s (%d)",
IMU_DEVICE_MAG, h.getError());
return -1;
}
DevMgr::releaseHandle(h);
return 0;
}
bool DFListTest::verifyList(DFPointerList &pl, const char *expectedOrder)
{
bool passed = true;
DFPointerList::Index idx = nullptr;
idx = pl.next(idx);
unsigned int i = 0;
while (idx != nullptr) {
const char *val = static_cast<const char *>(pl.get(idx));
if (val[0] != expectedOrder[i]) {
DF_LOG_INFO("Expected %c got %c", expectedOrder[i], val[0]);
passed = false;
}
idx = pl.next(idx);
++i;
}
return passed;
}
bool DFListTest::verifyStructList(DFManagedList<testStr> &pl, const char *expectedOrder)
{
bool passed = true;
DFPointerList::Index idx = nullptr;
idx = pl.next(idx);
unsigned int i = 0;
while (idx != nullptr) {
testStr *val = pl.get(idx);
if (val->msg[0] != expectedOrder[i]) {
DF_LOG_INFO("Expected %c got %c", expectedOrder[i], val->msg[0]);
passed = false;
}
idx = pl.next(idx);
++i;
}
return passed;
}