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Diffstat (limited to 'src/test/ao_micropeak_test.c')
| -rw-r--r-- | src/test/ao_micropeak_test.c | 192 |
1 files changed, 192 insertions, 0 deletions
diff --git a/src/test/ao_micropeak_test.c b/src/test/ao_micropeak_test.c new file mode 100644 index 00000000..04686402 --- /dev/null +++ b/src/test/ao_micropeak_test.c @@ -0,0 +1,192 @@ +/* + * Copyright © 2009 Keith Packard <keithp@keithp.com> + * + * 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; version 2 of the License. + * + * 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. + */ + +#define _GNU_SOURCE + +#include <stdint.h> +#include <stdio.h> +#include <stdlib.h> +#include <string.h> +#include <getopt.h> +#include <math.h> + +FILE *emulator_in; +char *emulator_app; +char *emulator_name; +char *emulator_info; +uint8_t ao_flight_debug; + +#define AO_FLIGHT_TEST + +typedef int32_t alt_t; + +#define AO_MS_TO_TICKS(ms) ((ms) / 10) + +#define AO_LED_REPORT 0 + +static void ao_led_on(uint8_t led) { +} + +static void ao_led_off(uint8_t led) { +} + +static void ao_delay_until(uint16_t target) { +} + +static uint16_t ao_time(void) { + return 0; +} + +#include "ao_microflight.c" +#include "ao_microkalman.c" +#include "ao_convert_pa.c" + +uint16_t now; +uint8_t running; + +void ao_log_micro_data() { + running = 1; +} + +void +ao_micro_report(void) +{ + if (running) { + alt_t ground = ao_pa_to_altitude(pa_ground); + printf ("%6.2f %10d %10d %10d\n", now / 100.0, + ao_pa_to_altitude(pa) - ground, + ao_pa_to_altitude(ao_pa) - ground, + ao_pa_to_altitude(pa_min) - ground); + } +} + +void +ao_micro_finish(void) +{ + ao_micro_report(); +} + +void +ao_pa_get(void) +{ + char line[4096]; + char *toks[128]; + char *saveptr; + int t, ntok; + static int time_id; + static int pa_id; + double time; + double pressure; + static double last_time; + static int been_here; + static int start_samples; + + if (been_here && start_samples < 100) { + start_samples++; + return; + } + ao_micro_report(); + for (;;) { + if (!fgets(line, sizeof (line), emulator_in)) + exit(0); + for (t = 0; t < 128; t++) { + toks[t] = strtok_r(t ? NULL : line, ", ", &saveptr); + if (!toks[t]) + break; + } + ntok = t; + if (toks[0][0] == '#') { + if (strcmp(toks[0],"#version") == 0) { + for (t = 1; t < ntok; t++) { + if (!strcmp(toks[t], "time")) + time_id = t; + if (!strcmp(toks[t],"pressure")) + pa_id = t; + } + } + continue; + } + time = strtod(toks[time_id],NULL); + pressure = strtod(toks[pa_id],NULL); + if (been_here && time - last_time < 0.1) + continue; + been_here = 1; + last_time = time; + now = floor (time * 100 + 0.5); + pa = pressure; + break; + } +} + +void +ao_dump_state(void) +{ +} + +static const struct option options[] = { + { .name = "summary", .has_arg = 0, .val = 's' }, + { .name = "debug", .has_arg = 0, .val = 'd' }, + { .name = "info", .has_arg = 1, .val = 'i' }, + { 0, 0, 0, 0}, +}; + +void run_flight_fixed(char *name, FILE *f, int summary, char *info) +{ + emulator_name = name; + emulator_in = f; + emulator_info = info; + ao_microflight(); + ao_micro_finish(); +} + +int +main (int argc, char **argv) +{ + int summary = 0; + int c; + int i; + char *info = NULL; + + emulator_app="baro"; + while ((c = getopt_long(argc, argv, "sdi:", options, NULL)) != -1) { + switch (c) { + case 's': + summary = 1; + break; + case 'd': + ao_flight_debug = 1; + break; + case 'i': + info = optarg; + break; + } + } + + if (optind == argc) + run_flight_fixed("<stdin>", stdin, summary, info); + else + for (i = optind; i < argc; i++) { + FILE *f = fopen(argv[i], "r"); + if (!f) { + perror(argv[i]); + continue; + } + run_flight_fixed(argv[i], f, summary, info); + fclose(f); + } + exit(0); +} |