diff --git a/src/main/fc/cli.c b/src/main/fc/cli.c
index 071b7aab43..121729aa26 100755
--- a/src/main/fc/cli.c
+++ b/src/main/fc/cli.c
@@ -299,13 +299,34 @@ static void cliPrintLinef(const char *format, ...)
va_end(va);
}
+
static void printValuePointer(const clivalue_t *var, const void *valuePointer, bool full)
{
if ((var->type & VALUE_MODE_MASK) == MODE_ARRAY) {
for (int i = 0; i < var->config.array.length; i++) {
- uint8_t value = ((uint8_t *)valuePointer)[i];
+ switch (var->type & VALUE_TYPE_MASK) {
+ default:
+ case VAR_UINT8:
+ // uint8_t array
+ cliPrintf("%d", ((uint8_t *)valuePointer)[i]);
+ break;
+
+ case VAR_INT8:
+ // int8_t array
+ cliPrintf("%d", ((int8_t *)valuePointer)[i]);
+ break;
+
+ case VAR_UINT16:
+ // uin16_t array
+ cliPrintf("%d", ((uint16_t *)valuePointer)[i]);
+ break;
+
+ case VAR_INT16:
+ // int16_t array
+ cliPrintf("%d", ((int16_t *)valuePointer)[i]);
+ break;
+ }
- cliPrintf("%d", value);
if (i < var->config.array.length - 1) {
cliPrint(",");
}
@@ -376,7 +397,7 @@ static uint16_t getValueOffset(const clivalue_t *value)
return 0;
}
-static void *getValuePointer(const clivalue_t *value)
+STATIC_UNIT_TESTED void *getValuePointer(const clivalue_t *value)
{
const pgRegistry_t* rec = pgFind(value->pgn);
return CONST_CAST(void *, rec->address + getValueOffset(value));
@@ -2637,7 +2658,7 @@ static void cliDefaults(char *cmdline)
cliReboot();
}
-static void cliGet(char *cmdline)
+STATIC_UNIT_TESTED void cliGet(char *cmdline)
{
const clivalue_t *val;
int matchedCommands = 0;
@@ -2681,7 +2702,7 @@ static uint8_t getWordLength(char *bufBegin, char *bufEnd)
return bufEnd - bufBegin;
}
-static void cliSet(char *cmdline)
+STATIC_UNIT_TESTED void cliSet(char *cmdline)
{
const uint32_t len = strlen(cmdline);
char *eqptr;
@@ -2706,16 +2727,17 @@ static void cliSet(char *cmdline)
for (uint32_t i = 0; i < valueTableEntryCount; i++) {
const clivalue_t *val = &valueTable[i];
+
// ensure exact match when setting to prevent setting variables with shorter names
- if (strncasecmp(cmdline, valueTable[i].name, strlen(valueTable[i].name)) == 0 && variableNameLength == strlen(valueTable[i].name)) {
+ if (strncasecmp(cmdline, val->name, strlen(val->name)) == 0 && variableNameLength == strlen(val->name)) {
bool valueChanged = false;
int16_t value = 0;
- switch (valueTable[i].type & VALUE_MODE_MASK) {
+ switch (val->type & VALUE_MODE_MASK) {
case MODE_DIRECT: {
int16_t value = atoi(eqptr);
- if (value >= valueTable[i].config.minmax.min && value <= valueTable[i].config.minmax.max) {
+ if (value >= val->config.minmax.min && value <= val->config.minmax.max) {
cliSetVar(val, value);
valueChanged = true;
}
@@ -2723,7 +2745,7 @@ static void cliSet(char *cmdline)
break;
case MODE_LOOKUP: {
- const lookupTableEntry_t *tableEntry = &lookupTables[valueTable[i].config.lookup.tableIndex];
+ const lookupTableEntry_t *tableEntry = &lookupTables[val->config.lookup.tableIndex];
bool matched = false;
for (uint32_t tableValueIndex = 0; tableValueIndex < tableEntry->valueCount && !matched; tableValueIndex++) {
matched = strcasecmp(tableEntry->values[tableValueIndex], eqptr) == 0;
@@ -2739,41 +2761,67 @@ static void cliSet(char *cmdline)
break;
case MODE_ARRAY: {
- const uint8_t arrayLength = valueTable[i].config.array.length;
+ const uint8_t arrayLength = val->config.array.length;
char *valPtr = eqptr;
- uint8_t array[256];
- char curVal[4];
+
for (int i = 0; i < arrayLength; i++) {
+ // skip spaces
valPtr = skipSpace(valPtr);
- char *valEnd = strstr(valPtr, ",");
- if ((valEnd != NULL) && (i < arrayLength - 1)) {
- uint8_t varLength = getWordLength(valPtr, valEnd);
- if (varLength <= 3) {
- strncpy(curVal, valPtr, getWordLength(valPtr, valEnd));
- curVal[varLength] = '\0';
- array[i] = (uint8_t)atoi((const char *)curVal);
- valPtr = valEnd + 1;
- } else {
+ // find next comma (or end of string)
+ char *valEndPtr = strchr(valPtr, ',');
+
+ // comma found or last item?
+ if ((valEndPtr != NULL) || (i == arrayLength - 1)){
+ // process substring [valPtr, valEndPtr[
+ // note: no need to copy substrings for atoi()
+ // it stops at the first character that cannot be converted...
+ switch (val->type & VALUE_TYPE_MASK) {
+ default:
+ case VAR_UINT8: {
+ // fetch data pointer
+ uint8_t *data = (uint8_t *)getValuePointer(val) + i;
+ // store value
+ *data = (uint8_t)atoi((const char*) valPtr);
+ }
+ break;
+
+ case VAR_INT8: {
+ // fetch data pointer
+ int8_t *data = (int8_t *)getValuePointer(val) + i;
+ // store value
+ *data = (int8_t)atoi((const char*) valPtr);
+ }
+ break;
+
+ case VAR_UINT16: {
+ // fetch data pointer
+ uint16_t *data = (uint16_t *)getValuePointer(val) + i;
+ // store value
+ *data = (uint16_t)atoi((const char*) valPtr);
+ }
+ break;
+
+ case VAR_INT16: {
+ // fetch data pointer
+ int16_t *data = (int16_t *)getValuePointer(val) + i;
+ // store value
+ *data = (int16_t)atoi((const char*) valPtr);
+ }
break;
}
- } else if ((valEnd == NULL) && (i == arrayLength - 1)) {
- array[i] = atoi(valPtr);
-
- uint8_t *ptr = getValuePointer(val);
- memcpy(ptr, array, arrayLength);
+ // mark as changed
valueChanged = true;
- } else {
- break;
+
+ // prepare to parse next item
+ valPtr = valEndPtr + 1;
}
}
}
-
break;
-
}
if (valueChanged) {
- cliPrintf("%s set to ", valueTable[i].name);
+ cliPrintf("%s set to ", val->name);
cliPrintVar(val, 0);
} else {
cliPrintLine("Invalid value");
diff --git a/src/test/Makefile b/src/test/Makefile
index 1575e72364..106cdb5fbb 100644
--- a/src/test/Makefile
+++ b/src/test/Makefile
@@ -52,6 +52,16 @@ blackbox_encoding_unittest_SRC := \
$(USER_DIR)/common/printf.c \
$(USER_DIR)/common/typeconversion.c
+cli_unittest_SRC := \
+ $(USER_DIR)/fc/cli.c \
+ $(USER_DIR)/config/feature.c \
+ $(USER_DIR)/config/parameter_group.c \
+ $(USER_DIR)/common/typeconversion.c
+
+cli_unittest_DEFINES := \
+ USE_CLI \
+ SystemCoreClock=1000000 \
+ OSD
cms_unittest_SRC := \
$(USER_DIR)/cms/cms.c \
diff --git a/src/test/unit/cli_unittest.cc b/src/test/unit/cli_unittest.cc
new file mode 100644
index 0000000000..565023837d
--- /dev/null
+++ b/src/test/unit/cli_unittest.cc
@@ -0,0 +1,267 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight 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.
+ *
+ * Cleanflight 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 Cleanflight. If not, see .
+ */
+
+#include
+#include
+#include
+
+#include
+
+#include
+
+extern "C" {
+ #include "platform.h"
+ #include "target.h"
+ #include "fc/runtime_config.h"
+ #include "fc/fc_msp.h"
+ #include "config/parameter_group.h"
+ #include "config/feature.h"
+ #include "config/parameter_group_ids.h"
+ #include "sensors/battery.h"
+ #include "drivers/buf_writer.h"
+ #include "flight/mixer.h"
+ #include "flight/servos.h"
+ #include "flight/pid.h"
+ #include "io/ledstrip.h"
+ #include "io/serial.h"
+ #include "io/osd.h"
+ #include "fc/settings.h"
+ #include "rx/rx.h"
+ #include "io/beeper.h"
+ #include "fc/rc_adjustments.h"
+ #include "scheduler/scheduler.h"
+ #include "fc/runtime_config.h"
+ #include "build/version.h"
+ #include "fc/config.h"
+ #include "drivers/buf_writer.h"
+ #include "fc/cli.h"
+
+ void cliSet(char *cmdline);
+ void cliGet(char *cmdline);
+ void *getValuePointer(const clivalue_t *value);
+
+ const clivalue_t valueTable[] = {
+ { "array_unit_test", VAR_INT8 | MODE_ARRAY | MASTER_VALUE, .config.array.length = 3, PG_RESERVED_FOR_TESTING_1, 0 }
+ };
+ const uint16_t valueTableEntryCount = ARRAYLEN(valueTable);
+ const lookupTableEntry_t lookupTables[] = {};
+
+
+ PG_REGISTER(osdConfig_t, osdConfig, PG_OSD_CONFIG, 0);
+ PG_REGISTER(batteryConfig_t, batteryConfig, PG_BATTERY_CONFIG, 0);
+ PG_REGISTER(ledStripConfig_t, ledStripConfig, PG_LED_STRIP_CONFIG, 0);
+ PG_REGISTER(systemConfig_t, systemConfig, PG_SYSTEM_CONFIG, 0);
+ PG_REGISTER_ARRAY(adjustmentRange_t, MAX_ADJUSTMENT_RANGE_COUNT, adjustmentRanges, PG_ADJUSTMENT_RANGE_CONFIG, 0);
+ PG_REGISTER_ARRAY(modeActivationCondition_t, MAX_MODE_ACTIVATION_CONDITION_COUNT, modeActivationConditions, PG_MODE_ACTIVATION_PROFILE, 0);
+ PG_REGISTER(mixerConfig_t, mixerConfig, PG_MIXER_CONFIG, 0);
+ PG_REGISTER_ARRAY(motorMixer_t, MAX_SUPPORTED_MOTORS, customMotorMixer, PG_MOTOR_MIXER, 0);
+ PG_REGISTER_ARRAY(servoParam_t, MAX_SUPPORTED_SERVOS, servoParams, PG_SERVO_PARAMS, 0);
+ PG_REGISTER_ARRAY(servoMixer_t, MAX_SERVO_RULES, customServoMixers, PG_SERVO_MIXER, 0);
+ PG_REGISTER(featureConfig_t, featureConfig, PG_FEATURE_CONFIG, 0);
+ PG_REGISTER(beeperConfig_t, beeperConfig, PG_BEEPER_CONFIG, 0);
+ PG_REGISTER(rxConfig_t, rxConfig, PG_RX_CONFIG, 0);
+ PG_REGISTER(serialConfig_t, serialConfig, PG_SERIAL_CONFIG, 0);
+ PG_REGISTER_ARRAY(rxChannelRangeConfig_t, NON_AUX_CHANNEL_COUNT, rxChannelRangeConfigs, PG_RX_CHANNEL_RANGE_CONFIG, 0);
+ PG_REGISTER_ARRAY(rxFailsafeChannelConfig_t, MAX_SUPPORTED_RC_CHANNEL_COUNT, rxFailsafeChannelConfigs, PG_RX_FAILSAFE_CHANNEL_CONFIG, 0);
+ PG_REGISTER(pidConfig_t, pidConfig, PG_PID_CONFIG, 0);
+
+ PG_REGISTER_WITH_RESET_FN(int8_t, unitTestData, PG_RESERVED_FOR_TESTING_1, 0);
+}
+
+#include "unittest_macros.h"
+#include "gtest/gtest.h"
+TEST(CLIUnittest, TestCliSet)
+{
+
+ cliSet((char *)"array_unit_test = 123, -3 , 1");
+
+ const clivalue_t cval = {
+ .name = "array_unit_test",
+ .type = MODE_ARRAY | MASTER_VALUE | VAR_INT8,
+ .pgn = PG_RESERVED_FOR_TESTING_1,
+ .offset = 0
+ };
+
+ printf("\n===============================\n");
+ int8_t *data = (int8_t *)getValuePointer(&cval);
+ for(int i=0; i<3; i++){
+ printf("data[%d] = %d\n", i, data[i]);
+ }
+ printf("\n===============================\n");
+
+
+ EXPECT_EQ(123, data[0]);
+ EXPECT_EQ( -3, data[1]);
+ EXPECT_EQ( 1, data[2]);
+
+
+ //cliGet((char *)"osd_item_vbat");
+ //EXPECT_EQ(false, false);
+}
+
+// STUBS
+extern "C" {
+
+float motor_disarmed[MAX_SUPPORTED_MOTORS];
+
+uint16_t batteryWarningVoltage;
+uint8_t useHottAlarmSoundPeriod (void) { return 0; }
+const uint32_t baudRates[] = {0, 9600, 19200, 38400, 57600, 115200, 230400, 250000, 400000}; // see baudRate_e
+
+uint32_t micros(void) {return 0;}
+
+int32_t getAmperage(void) {
+ return 100;
+}
+
+uint16_t getBatteryVoltage(void) {
+ return 42;
+}
+
+batteryState_e getBatteryState(void) {
+ return BATTERY_OK;
+}
+
+uint8_t calculateBatteryPercentageRemaining(void) {
+ return 67;
+}
+
+uint8_t getMotorCount() {
+ return 4;
+}
+
+
+void setPrintfSerialPort(struct serialPort_s) {}
+
+void tfp_printf(const char * expectedFormat, ...) {
+ va_list args;
+
+ va_start(args, expectedFormat);
+ vprintf(expectedFormat, args);
+ va_end(args);
+}
+
+
+void tfp_format(void *, void (*) (void *, char), const char * expectedFormat, va_list va) {
+ vprintf(expectedFormat, va);
+}
+
+static const box_t boxes[] = { { 0, "DUMMYBOX", 0 } };
+const box_t *findBoxByPermanentId(uint8_t) { return &boxes[0]; }
+const box_t *findBoxByBoxId(boxId_e) { return &boxes[0]; }
+
+int8_t unitTestDataArray[3];
+
+void pgResetFn_unitTestData(int8_t *ptr) {
+ ptr = &unitTestDataArray[0];
+}
+
+uint32_t getBeeperOffMask(void) { return 0; }
+uint32_t getPreferredBeeperOffMask(void) { return 0; }
+
+void beeper(beeperMode_e) {}
+void beeperSilence(void) {}
+void beeperConfirmationBeeps(uint8_t) {}
+void beeperWarningBeeps(uint8_t) {}
+void beeperUpdate(timeUs_t) {}
+uint32_t getArmingBeepTimeMicros(void) {return 0;}
+beeperMode_e beeperModeForTableIndex(int) {return BEEPER_SILENCE;}
+const char *beeperNameForTableIndex(int) {return NULL;}
+int beeperTableEntryCount(void) {return 0;}
+bool isBeeperOn(void) {return false;}
+void beeperOffSetAll(uint8_t) {}
+void setBeeperOffMask(uint32_t) {}
+void setPreferredBeeperOffMask(uint32_t) {}
+
+void beeperOffSet(uint32_t) {}
+void beeperOffClear(uint32_t) {}
+void beeperOffClearAll(void) {}
+bool parseColor(int, const char *) {return false; }
+void resetEEPROM(void) {}
+void bufWriterFlush(bufWriter_t *) {}
+void mixerResetDisarmedMotors(void) {}
+void gpsEnablePassthrough(struct serialPort_s *) {}
+bool parseLedStripConfig(int, const char *){return false; }
+const char rcChannelLetters[] = "AERT12345678abcdefgh";
+
+void parseRcChannels(const char *, rxConfig_t *){}
+void mixerLoadMix(int, motorMixer_t *) {}
+bool setModeColor(ledModeIndex_e, int, int) { return false; }
+float convertExternalToMotor(uint16_t ){ return 1.0; }
+uint8_t getCurrentPidProfileIndex(void){ return 1; }
+uint8_t getCurrentControlRateProfileIndex(void){ return 1; }
+void changeControlRateProfile(uint8_t) {}
+void resetAllRxChannelRangeConfigurations(rxChannelRangeConfig_t *) {}
+void writeEEPROM() {}
+serialPortConfig_t *serialFindPortConfiguration(serialPortIdentifier_e) {return NULL; }
+baudRate_e lookupBaudRateIndex(uint32_t){return BAUD_9600; }
+serialPortUsage_t *findSerialPortUsageByIdentifier(serialPortIdentifier_e){ return NULL; }
+serialPort_t *openSerialPort(serialPortIdentifier_e, serialPortFunction_e, serialReceiveCallbackPtr, uint32_t, portMode_t, portOptions_t) { return NULL; }
+void serialSetBaudRate(serialPort_t *, uint32_t) {}
+void serialSetMode(serialPort_t *, portMode_t) {}
+void serialPassthrough(serialPort_t *, serialPort_t *, serialConsumer *, serialConsumer *) {}
+uint32_t millis(void) { return 0; }
+uint8_t getBatteryCellCount(void) { return 1; }
+void servoMixerLoadMix(int) {}
+const char * getBatteryStateString(void){ return "_getBatteryStateString_"; }
+
+uint32_t stackTotalSize(void) { return 0x4000; }
+uint32_t stackHighMem(void) { return 0x80000000; }
+uint16_t getEEPROMConfigSize(void) { return 1024; }
+
+uint8_t __config_start = 0x00;
+uint8_t __config_end = 0x10;
+uint16_t averageSystemLoadPercent = 0;
+
+timeDelta_t getTaskDeltaTime(cfTaskId_e){ return 0; }
+armingDisableFlags_e getArmingDisableFlags(void) { return ARMING_DISABLED_NO_GYRO; }
+
+const char *armingDisableFlagNames[]= {
+"DUMMYDISABLEFLAGNAME"
+};
+
+void getTaskInfo(cfTaskId_e, cfTaskInfo_t *) {}
+void getCheckFuncInfo(cfCheckFuncInfo_t *) {}
+
+const char * const targetName = "UNITTEST";
+const char* const buildDate = "Jan 01 2017";
+const char * const buildTime = "00:00:00";
+const char * const shortGitRevision = "MASTER";
+
+uint32_t serialRxBytesWaiting(const serialPort_t *) {return 0;}
+uint8_t serialRead(serialPort_t *){return 0;}
+
+void bufWriterAppend(bufWriter_t *, uint8_t ch){ printf("%c", ch); }
+void serialWriteBufShim(void *, const uint8_t *, int) {}
+bufWriter_t *bufWriterInit(uint8_t *, int, bufWrite_t, void *) {return NULL;}
+void schedulerSetCalulateTaskStatistics(bool) {}
+void setArmingDisabled(armingDisableFlags_e) {}
+
+void waitForSerialPortToFinishTransmitting(serialPort_t *) {}
+void stopPwmAllMotors(void) {}
+void systemResetToBootloader(void) {}
+void resetConfigs(void) {}
+void systemReset(void) {}
+
+void changePidProfile(uint8_t) {}
+bool serialIsPortAvailable(serialPortIdentifier_e) { return false; }
+void generateLedConfig(ledConfig_t *, char *, size_t) {}
+bool isSerialTransmitBufferEmpty(const serialPort_t *) {return true; }
+void serialWrite(serialPort_t *, uint8_t ch) { printf("%c", ch);}
+
+
+}