diff options
Diffstat (limited to 'src/test')
| -rw-r--r-- | src/test/Makefile | 18 | ||||
| -rw-r--r-- | src/test/ao_flight_test.c | 10 | ||||
| -rw-r--r-- | src/test/ao_lisp_os.h | 59 | ||||
| -rw-r--r-- | src/test/ao_lisp_test.c | 134 | ||||
| -rw-r--r-- | src/test/hanoi.lisp | 155 |
5 files changed, 14 insertions, 362 deletions
diff --git a/src/test/Makefile b/src/test/Makefile index 08808430..7bd13db9 100644 --- a/src/test/Makefile +++ b/src/test/Makefile @@ -1,10 +1,13 @@ -vpath % ..:../kernel:../drivers:../util:../micropeak:../aes:../product:../lisp +vpath %.o . +vpath %.c ..:../kernel:../drivers:../util:../micropeak:../aes:../product +vpath %.h ..:../kernel:../drivers:../util:../micropeak:../aes:../product +vpath make-kalman ..:../kernel:../drivers:../util:../micropeak:../aes:../product PROGS=ao_flight_test ao_flight_test_baro ao_flight_test_accel ao_flight_test_noisy_accel ao_flight_test_mm \ ao_flight_test_metrum ao_flight_test_mini \ ao_gps_test ao_gps_test_skytraq ao_gps_test_ublox ao_convert_test ao_convert_pa_test ao_fec_test \ ao_aprs_test ao_micropeak_test ao_fat_test ao_aes_test ao_int64_test \ - ao_ms5607_convert_test ao_quaternion_test ao_lisp_test + ao_ms5607_convert_test ao_quaternion_test INCS=ao_kalman.h ao_ms5607.h ao_log.h ao_data.h altitude-pa.h altitude.h ao_quaternion.h ao_eeprom_read.h TEST_SRC=ao_flight_test.c @@ -17,7 +20,7 @@ CFLAGS=-I.. -I. -I../kernel -I../drivers -I../micropeak -I../product -I../lisp - all: $(PROGS) ao_aprs_data.wav -clean: +clean:: rm -f $(PROGS) ao_aprs_data.wav run-out.baro run-out.full install: @@ -94,12 +97,3 @@ ao_ms5607_convert_test: ao_ms5607_convert_test.c ao_ms5607_convert_8051.c ao_int ao_quaternion_test: ao_quaternion_test.c ao_quaternion.h cc $(CFLAGS) -o $@ ao_quaternion_test.c -lm -AO_LISP_OBJS = ao_lisp_test.o ao_lisp_mem.o ao_lisp_cons.o ao_lisp_string.o \ - ao_lisp_atom.o ao_lisp_int.o ao_lisp_eval.o ao_lisp_poly.o \ - ao_lisp_builtin.o ao_lisp_read.o ao_lisp_rep.o ao_lisp_frame.o \ - ao_lisp_lambda.o ao_lisp_error.o ao_lisp_save.o ao_lisp_stack.o - -ao_lisp_test: $(AO_LISP_OBJS) - cc $(CFLAGS) -o $@ $(AO_LISP_OBJS) - -$(AO_LISP_OBJS): ao_lisp.h ao_lisp_const.h ao_lisp_os.h diff --git a/src/test/ao_flight_test.c b/src/test/ao_flight_test.c index 298848d6..2d862f82 100644 --- a/src/test/ao_flight_test.c +++ b/src/test/ao_flight_test.c @@ -25,6 +25,7 @@ #include <string.h> #include <getopt.h> #include <math.h> +#define log ao_log_data #define GRAVITY 9.80665 @@ -370,7 +371,7 @@ extern int16_t ao_accel_2g; typedef int16_t accel_t; uint16_t ao_serial_number; -uint16_t ao_flight_number; +int16_t ao_flight_number; extern uint16_t ao_sample_tick; @@ -998,7 +999,7 @@ main (int argc, char **argv) #else emulator_app="baro"; #endif - while ((c = getopt_long(argc, argv, "sdi:", options, NULL)) != -1) { + while ((c = getopt_long(argc, argv, "sdpi:", options, NULL)) != -1) { switch (c) { case 's': summary = 1; @@ -1006,6 +1007,11 @@ main (int argc, char **argv) case 'd': ao_flight_debug = 1; break; + case 'p': +#if PYRO_DBG + pyro_dbg = 1; +#endif + break; case 'i': info = optarg; break; diff --git a/src/test/ao_lisp_os.h b/src/test/ao_lisp_os.h deleted file mode 100644 index 9ff2e1fe..00000000 --- a/src/test/ao_lisp_os.h +++ /dev/null @@ -1,59 +0,0 @@ -/* - * Copyright © 2016 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. - */ - -#ifndef _AO_LISP_OS_H_ -#define _AO_LISP_OS_H_ - -#include <stdio.h> -#include <stdlib.h> -#include <time.h> - -#define AO_LISP_POOL_TOTAL 3072 -#define AO_LISP_SAVE 1 -#define DBG_MEM_STATS 1 - -extern int ao_lisp_getc(void); - -static inline void -ao_lisp_os_flush() { - fflush(stdout); -} - -static inline void -ao_lisp_abort(void) -{ - abort(); -} - -static inline void -ao_lisp_os_led(int led) -{ - printf("leds set to 0x%x\n", led); -} - -static inline void -ao_lisp_os_delay(int delay) -{ - if (!delay) - return; - struct timespec ts = { - .tv_sec = delay / 1000, - .tv_nsec = (delay % 1000) * 1000000, - }; - nanosleep(&ts, NULL); -} -#endif diff --git a/src/test/ao_lisp_test.c b/src/test/ao_lisp_test.c deleted file mode 100644 index 68e3a202..00000000 --- a/src/test/ao_lisp_test.c +++ /dev/null @@ -1,134 +0,0 @@ -/* - * Copyright © 2016 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, either version 2 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. - */ - -#include "ao_lisp.h" -#include <stdio.h> - -static FILE *ao_lisp_file; -static int newline = 1; - -static char save_file[] = "lisp.image"; - -int -ao_lisp_os_save(void) -{ - FILE *save = fopen(save_file, "w"); - - if (!save) { - perror(save_file); - return 0; - } - fwrite(ao_lisp_pool, 1, AO_LISP_POOL_TOTAL, save); - fclose(save); - return 1; -} - -int -ao_lisp_os_restore_save(struct ao_lisp_os_save *save, int offset) -{ - FILE *restore = fopen(save_file, "r"); - size_t ret; - - if (!restore) { - perror(save_file); - return 0; - } - fseek(restore, offset, SEEK_SET); - ret = fread(save, sizeof (struct ao_lisp_os_save), 1, restore); - fclose(restore); - if (ret != 1) - return 0; - return 1; -} - -int -ao_lisp_os_restore(void) -{ - FILE *restore = fopen(save_file, "r"); - size_t ret; - - if (!restore) { - perror(save_file); - return 0; - } - ret = fread(ao_lisp_pool, 1, AO_LISP_POOL_TOTAL, restore); - fclose(restore); - if (ret != AO_LISP_POOL_TOTAL) - return 0; - return 1; -} - -int -ao_lisp_getc(void) -{ - int c; - - if (ao_lisp_file) - return getc(ao_lisp_file); - - if (newline) { - printf("> "); - newline = 0; - } - c = getchar(); - if (c == '\n') - newline = 1; - return c; -} - -int -main (int argc, char **argv) -{ - while (*++argv) { - ao_lisp_file = fopen(*argv, "r"); - if (!ao_lisp_file) { - perror(*argv); - exit(1); - } - ao_lisp_read_eval_print(); - fclose(ao_lisp_file); - ao_lisp_file = NULL; - } - ao_lisp_read_eval_print(); - - printf ("collects: full: %d incremental %d\n", - ao_lisp_collects[AO_LISP_COLLECT_FULL], - ao_lisp_collects[AO_LISP_COLLECT_INCREMENTAL]); - - printf ("freed: full %d incremental %d\n", - ao_lisp_freed[AO_LISP_COLLECT_FULL], - ao_lisp_freed[AO_LISP_COLLECT_INCREMENTAL]); - - printf("loops: full %d incremental %d\n", - ao_lisp_loops[AO_LISP_COLLECT_FULL], - ao_lisp_loops[AO_LISP_COLLECT_INCREMENTAL]); - - printf("loops per collect: full %f incremental %f\n", - (double) ao_lisp_loops[AO_LISP_COLLECT_FULL] / - (double) ao_lisp_collects[AO_LISP_COLLECT_FULL], - (double) ao_lisp_loops[AO_LISP_COLLECT_INCREMENTAL] / - (double) ao_lisp_collects[AO_LISP_COLLECT_INCREMENTAL]); - - printf("freed per collect: full %f incremental %f\n", - (double) ao_lisp_freed[AO_LISP_COLLECT_FULL] / - (double) ao_lisp_collects[AO_LISP_COLLECT_FULL], - (double) ao_lisp_freed[AO_LISP_COLLECT_INCREMENTAL] / - (double) ao_lisp_collects[AO_LISP_COLLECT_INCREMENTAL]); - - printf("freed per loop: full %f incremental %f\n", - (double) ao_lisp_freed[AO_LISP_COLLECT_FULL] / - (double) ao_lisp_loops[AO_LISP_COLLECT_FULL], - (double) ao_lisp_freed[AO_LISP_COLLECT_INCREMENTAL] / - (double) ao_lisp_loops[AO_LISP_COLLECT_INCREMENTAL]); -} diff --git a/src/test/hanoi.lisp b/src/test/hanoi.lisp deleted file mode 100644 index e2eb0fa0..00000000 --- a/src/test/hanoi.lisp +++ /dev/null @@ -1,155 +0,0 @@ -; -; Towers of Hanoi -; -; Copyright © 2016 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, either version 2 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. -; - - ; ANSI control sequences - -(defun move-to (col row) - (patom "\033[" row ";" col "H") - ) - -(defun clear () - (patom "\033[2J") - ) - -(defun display-string (x y str) - (move-to x y) - (patom str) - ) - - ; Here's the pieces to display - -(setq stack '(" * " " *** " " ***** " " ******* " " ********* " "***********")) - - ; Here's all of the stacks of pieces - ; This is generated when the program is run - -(setq stacks nil) - - ; Display one stack, clearing any - ; space above it - -(defun display-stack (x y clear stack) - (cond ((= 0 clear) - (cond (stack - (display-string x y (car stack)) - (display-stack x (1+ y) 0 (cdr stack)) - ) - ) - ) - (t - (display-string x y " ") - (display-stack x (1+ y) (1- clear) stack) - ) - ) - ) - - ; Position of the top of the stack on the screen - ; Shorter stacks start further down the screen - -(defun stack-pos (y stack) - (- y (length stack)) - ) - - ; Display all of the stacks, spaced 20 columns apart - -(defun display-stacks (x y stacks) - (cond (stacks - (display-stack x 0 (stack-pos y (car stacks)) (car stacks)) - (display-stacks (+ x 20) y (cdr stacks))) - ) - ) - - ; Display all of the stacks, then move the cursor - ; out of the way and flush the output - -(defun display () - (display-stacks 0 top stacks) - (move-to 1 21) - (flush) - ) - - ; Reset stacks to the starting state, with - ; all of the pieces in the first stack and the - ; other two empty - -(defun reset-stacks () - (setq stacks (list stack nil nil)) - (setq top (+ (length stack) 3)) - (length stack) - ) - - ; more functions which could usefully - ; be in the rom image - -(defun min (a b) - (cond ((< a b) a) - (b) - ) - ) - - ; Replace a stack in the list of stacks - ; with a new value - -(defun replace (list pos member) - (cond ((= pos 0) (cons member (cdr list))) - ((cons (car list) (replace (cdr list) (1- pos) member))) - ) - ) - - ; Move a piece from the top of one stack - ; to the top of another - -(setq move-delay 100) - -(defun move-piece (from to) - (let ((from-stack (nth stacks from)) - (to-stack (nth stacks to)) - (piece (car from-stack))) - (setq from-stack (cdr from-stack)) - (setq to-stack (cons piece to-stack)) - (setq stacks (replace stacks from from-stack)) - (setq stacks (replace stacks to to-stack)) - (display) - (delay move-delay) - ) - ) - -; The implementation of the game - -(defun _hanoi (n from to use) - (cond ((= 1 n) - (move-piece from to) - ) - (t - (_hanoi (1- n) from use to) - (_hanoi 1 from to use) - (_hanoi (1- n) use to from) - ) - ) - ) - - ; A pretty interface which - ; resets the state of the game, - ; clears the screen and runs - ; the program - -(defun hanoi () - (setq len (reset-stacks)) - (clear) - (_hanoi len 0 1 2) - (move-to 0 23) - t - ) |