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134 lines
3.7 KiB
134 lines
3.7 KiB
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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// |
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// Simple test for the StorageManager class |
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// |
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#include <stdarg.h> |
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#include <AP_Common/AP_Common.h> |
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#include <AP_Progmem/AP_Progmem.h> |
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#include <AP_HAL/AP_HAL.h> |
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#include <AP_HAL_AVR/AP_HAL_AVR.h> |
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#include <AP_HAL_SITL/AP_HAL_SITL.h> |
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#include <AP_HAL_Linux/AP_HAL_Linux.h> |
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#include <AP_HAL_FLYMAPLE/AP_HAL_FLYMAPLE.h> |
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#include <AP_HAL_PX4/AP_HAL_PX4.h> |
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#include <AP_HAL_Empty/AP_HAL_Empty.h> |
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#include <AP_Math/AP_Math.h> |
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#include <AP_Param/AP_Param.h> |
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#include <StorageManager/StorageManager.h> |
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#include <AP_ADC/AP_ADC.h> |
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#include <AP_InertialSensor/AP_InertialSensor.h> |
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#include <AP_Notify/AP_Notify.h> |
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#include <AP_GPS/AP_GPS.h> |
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#include <SITL/SITL.h> |
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#include <AP_Baro/AP_Baro.h> |
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#include <Filter/Filter.h> |
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#include <DataFlash/DataFlash.h> |
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#include <GCS_MAVLink/GCS_MAVLink.h> |
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#include <AP_Mission/AP_Mission.h> |
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#include <AP_Terrain/AP_Terrain.h> |
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#include <AP_Rally/AP_Rally.h> |
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#include <AP_AHRS/AP_AHRS.h> |
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#include <AP_Airspeed/AP_Airspeed.h> |
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#include <AP_Vehicle/AP_Vehicle.h> |
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#include <AP_ADC_AnalogSource/AP_ADC_AnalogSource.h> |
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#include <AP_Compass/AP_Compass.h> |
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#include <AP_Declination/AP_Declination.h> |
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#include <AP_NavEKF/AP_NavEKF.h> |
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#include <AP_HAL_Linux/AP_HAL_Linux.h> |
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#include <AP_Scheduler/AP_Scheduler.h> |
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#include <AP_RangeFinder/AP_RangeFinder.h> |
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const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER; |
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#define DO_INITIALISATION 1 |
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/* |
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instantiate all 4 storage types |
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*/ |
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static StorageAccess all_storage[4] = { |
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StorageAccess(StorageManager::StorageParam), |
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StorageAccess(StorageManager::StorageMission), |
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StorageAccess(StorageManager::StorageFence), |
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StorageAccess(StorageManager::StorageRally) |
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}; |
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/* |
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simple random generator, see http://en.wikipedia.org/wiki/Random_number_generation |
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*/ |
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static uint16_t get_random(void) |
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{ |
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static uint32_t m_z = 1234; |
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static uint32_t m_w = 76542; |
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m_z = 36969 * (m_z & 65535) + (m_z >> 16); |
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m_w = 18000 * (m_w & 65535) + (m_w >> 16); |
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return ((m_z << 16) + m_w) & 0xFFFF; |
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} |
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/* |
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return a predictable value for an offset |
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*/ |
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static uint8_t pvalue(uint16_t offset) |
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{ |
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return ((offset * 7) + 13) % 65536; |
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} |
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void setup(void) |
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{ |
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hal.console->println("StorageTest startup..."); |
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#if DO_INITIALISATION |
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for (uint8_t type=0; type<4; type++) { |
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const StorageAccess &storage = all_storage[type]; |
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hal.console->printf("Init type %u\n", (unsigned)type); |
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for (uint16_t i=0; i<storage.size(); i++) { |
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storage.write_byte(i, pvalue(i)); |
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} |
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} |
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#endif |
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} |
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void loop(void) |
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{ |
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static uint32_t count; |
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uint8_t type = get_random() % 4; |
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const StorageAccess &storage = all_storage[type]; |
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uint16_t offset = get_random() % storage.size(); |
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uint8_t length = (get_random() & 31); |
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if (offset + length > storage.size()) { |
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length = storage.size() - offset; |
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} |
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if (length == 0) { |
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return; |
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} |
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uint8_t b[length]; |
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for (uint8_t i=0; i<length; i++) { |
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b[i] = pvalue(offset+i); |
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} |
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if (get_random() % 2 == 1) { |
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if (!storage.write_block(offset, b, length)) { |
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hal.console->printf("write failed at offset %u length %u\n", |
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(unsigned)offset, (unsigned)length); |
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} |
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} else { |
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uint8_t b2[length]; |
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if (!storage.read_block(b2, offset, length)) { |
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hal.console->printf("read failed at offset %u length %u\n", |
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(unsigned)offset, (unsigned)length); |
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} |
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if (memcmp(b, b2, length) != 0) { |
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hal.console->printf("bad data at offset %u length %u\n", |
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(unsigned)offset, (unsigned)length); |
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} |
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} |
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count++; |
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if (count % 10000 == 0) { |
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hal.console->printf("%u ops\n", count); |
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} |
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} |
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AP_HAL_MAIN();
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