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LibrePilot/flight/OpenPilot/Tests/test_uavobjects.c

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/**
******************************************************************************
*
* @file test_uavobjects.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Tests for the UAVObject libraries
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "openpilot.h"
#include "exampleobject1.h"
#include "uavobjectsinit.h"
// Local functions
static void testTask(void *pvParameters);
static void eventCallback(UAVObjEvent* ev);
static void eventCallbackPeriodic(UAVObjEvent* ev);
// Variables
int testDelay = 0;
int main()
{
/* Brings up System using CMSIS functions, enables the LEDs. */
PIOS_SYS_Init();
/* Delay system */
PIOS_DELAY_Init();
/* SPI Init */
PIOS_SPI_Init();
/* Enables the SDCard */
PIOS_SDCARD_Init();
PIOS_SDCARD_MountFS(0);
// Turn on both LEDs
PIOS_LED_On(LED1);
PIOS_LED_On(LED2);
// Create test task
xTaskCreate(testTask, (signed portCHAR *)"ObjTest", 1000 , NULL, 1, NULL);
// Start the FreeRTOS scheduler
vTaskStartScheduler();
return 0;
}
static void testTask(void *pvParameters)
{
ExampleObject1Data data;
// Initialize object and manager
EventDispatcherInitialize();
UAVObjInitialize();
UAVObjectsInitializeAll();
// Set data
ExampleObject1Get(&data);
data.Field1 = 1;
data.Field2 = 2;
ExampleObject1Set(&data);
// Get data
memset(&data, 0, sizeof(data));
ExampleObject1Get(&data);
// Benchmark time is takes to get and set data (both operations)
int tickStart = xTaskGetTickCount();
for (int n = 0; n < 10000; ++n)
{
ExampleObject1Set(&data);
ExampleObject1Get(&data);
}
int delay = xTaskGetTickCount() - tickStart;
// Create a new instance and get/set its data
uint16_t instId = ExampleObject1CreateInstance();
ExampleObject1InstSet(instId, &data);
memset(&data, 0, sizeof(data));
ExampleObject1InstGet(instId, &data);
// Test pack/unpack
uint8_t buffer[EXAMPLEOBJECT1_NUMBYTES];
memset(buffer, 0, EXAMPLEOBJECT1_NUMBYTES);
UAVObjPack(ExampleObject1Handle(), 0, buffer);
memset(&data, 0, sizeof(data));
ExampleObject1Set(&data);
UAVObjUnpack(ExampleObject1Handle(), 0, buffer);
ExampleObject1Get(&data);
// Test object saving/loading to SD card
UAVObjSave(ExampleObject1Handle(), 0);
memset(&data, 0, sizeof(data));
ExampleObject1Set(&data);
UAVObjLoad(ExampleObject1Handle(), 0);
ExampleObject1Get(&data);
// Retrieve object handle by ID
UAVObjHandle handle = UAVObjGetByID(EXAMPLEOBJECT1_OBJID);
const char* name = UAVObjGetName(handle);
// Get/Set the metadata
UAVObjMetadata mdata;
ExampleObject1GetMetadata(&mdata);
mdata.gcsTelemetryAcked = 0;
ExampleObject1SetMetadata(&mdata);
memset(&mdata, 0, sizeof(mdata));
ExampleObject1GetMetadata(&mdata);
// Test callbacks
ExampleObject1ConnectCallback(eventCallback);
ExampleObject1Set(&data);
// Test queue events
xQueueHandle queue;
queue = xQueueCreate(10, sizeof(UAVObjEvent));
ExampleObject1ConnectQueue(queue);
// Test periodic events
UAVObjEvent ev;
ev.event = 0;
ev.instId = 0;
ev.obj = ExampleObject1Handle();
EventPeriodicCallbackCreate(&ev, eventCallbackPeriodic, 500);
EventPeriodicQueueCreate(&ev, queue, 250);
// Done testing
while (1)
{
if(xQueueReceive(queue, &ev, portMAX_DELAY) == pdTRUE)
{
name = UAVObjGetName(ev.obj);
PIOS_LED_Toggle(LED2);
}
}
}
static void eventCallback(UAVObjEvent* ev)
{
const char* name = UAVObjGetName(ev->obj);
}
static void eventCallbackPeriodic(UAVObjEvent* ev)
{
static int lastUpdate;
testDelay = xTaskGetTickCount() - lastUpdate;
lastUpdate = xTaskGetTickCount();
const char* name = UAVObjGetName(ev->obj);
PIOS_LED_Toggle(LED1);
//ExampleObject1Updated();
}
void vApplicationIdleHook(void)
{
/* Called when the scheduler has no tasks to run */
}