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https://github.com/betaflight/betaflight.git
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Merge pull request #3523 from fishpepper/cli_array
improved array handling in cli
This commit is contained in:
Martin Budden
GitHub
commit
afe2d26ded
3 changed files with 356 additions and 31 deletions
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@ -299,13 +299,34 @@ static void cliPrintLinef(const char *format, ...)
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va_end(va);
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}
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static void printValuePointer(const clivalue_t *var, const void *valuePointer, bool full)
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{
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if ((var->type & VALUE_MODE_MASK) == MODE_ARRAY) {
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for (int i = 0; i < var->config.array.length; i++) {
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uint8_t value = ((uint8_t *)valuePointer)[i];
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switch (var->type & VALUE_TYPE_MASK) {
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default:
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case VAR_UINT8:
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// uint8_t array
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cliPrintf("%d", ((uint8_t *)valuePointer)[i]);
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break;
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case VAR_INT8:
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// int8_t array
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cliPrintf("%d", ((int8_t *)valuePointer)[i]);
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break;
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case VAR_UINT16:
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// uin16_t array
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cliPrintf("%d", ((uint16_t *)valuePointer)[i]);
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break;
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case VAR_INT16:
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// int16_t array
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cliPrintf("%d", ((int16_t *)valuePointer)[i]);
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break;
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}
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cliPrintf("%d", value);
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if (i < var->config.array.length - 1) {
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cliPrint(",");
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}
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@ -376,7 +397,7 @@ static uint16_t getValueOffset(const clivalue_t *value)
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return 0;
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}
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static void *getValuePointer(const clivalue_t *value)
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STATIC_UNIT_TESTED void *getValuePointer(const clivalue_t *value)
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{
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const pgRegistry_t* rec = pgFind(value->pgn);
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return CONST_CAST(void *, rec->address + getValueOffset(value));
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@ -2637,7 +2658,7 @@ static void cliDefaults(char *cmdline)
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cliReboot();
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}
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static void cliGet(char *cmdline)
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STATIC_UNIT_TESTED void cliGet(char *cmdline)
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{
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const clivalue_t *val;
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int matchedCommands = 0;
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@ -2681,7 +2702,7 @@ static uint8_t getWordLength(char *bufBegin, char *bufEnd)
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return bufEnd - bufBegin;
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}
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static void cliSet(char *cmdline)
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STATIC_UNIT_TESTED void cliSet(char *cmdline)
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{
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const uint32_t len = strlen(cmdline);
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char *eqptr;
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@ -2706,16 +2727,17 @@ static void cliSet(char *cmdline)
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for (uint32_t i = 0; i < valueTableEntryCount; i++) {
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const clivalue_t *val = &valueTable[i];
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// ensure exact match when setting to prevent setting variables with shorter names
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if (strncasecmp(cmdline, valueTable[i].name, strlen(valueTable[i].name)) == 0 && variableNameLength == strlen(valueTable[i].name)) {
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if (strncasecmp(cmdline, val->name, strlen(val->name)) == 0 && variableNameLength == strlen(val->name)) {
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bool valueChanged = false;
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int16_t value = 0;
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switch (valueTable[i].type & VALUE_MODE_MASK) {
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switch (val->type & VALUE_MODE_MASK) {
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case MODE_DIRECT: {
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int16_t value = atoi(eqptr);
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if (value >= valueTable[i].config.minmax.min && value <= valueTable[i].config.minmax.max) {
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if (value >= val->config.minmax.min && value <= val->config.minmax.max) {
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cliSetVar(val, value);
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valueChanged = true;
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}
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@ -2723,7 +2745,7 @@ static void cliSet(char *cmdline)
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break;
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case MODE_LOOKUP: {
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const lookupTableEntry_t *tableEntry = &lookupTables[valueTable[i].config.lookup.tableIndex];
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const lookupTableEntry_t *tableEntry = &lookupTables[val->config.lookup.tableIndex];
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bool matched = false;
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for (uint32_t tableValueIndex = 0; tableValueIndex < tableEntry->valueCount && !matched; tableValueIndex++) {
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matched = strcasecmp(tableEntry->values[tableValueIndex], eqptr) == 0;
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@ -2739,41 +2761,67 @@ static void cliSet(char *cmdline)
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break;
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case MODE_ARRAY: {
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const uint8_t arrayLength = valueTable[i].config.array.length;
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const uint8_t arrayLength = val->config.array.length;
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char *valPtr = eqptr;
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uint8_t array[256];
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char curVal[4];
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for (int i = 0; i < arrayLength; i++) {
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// skip spaces
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valPtr = skipSpace(valPtr);
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char *valEnd = strstr(valPtr, ",");
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if ((valEnd != NULL) && (i < arrayLength - 1)) {
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uint8_t varLength = getWordLength(valPtr, valEnd);
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if (varLength <= 3) {
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strncpy(curVal, valPtr, getWordLength(valPtr, valEnd));
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curVal[varLength] = '\0';
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array[i] = (uint8_t)atoi((const char *)curVal);
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valPtr = valEnd + 1;
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} else {
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// find next comma (or end of string)
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char *valEndPtr = strchr(valPtr, ',');
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// comma found or last item?
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if ((valEndPtr != NULL) || (i == arrayLength - 1)){
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// process substring [valPtr, valEndPtr[
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// note: no need to copy substrings for atoi()
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// it stops at the first character that cannot be converted...
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switch (val->type & VALUE_TYPE_MASK) {
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default:
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case VAR_UINT8: {
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// fetch data pointer
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uint8_t *data = (uint8_t *)getValuePointer(val) + i;
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// store value
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*data = (uint8_t)atoi((const char*) valPtr);
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}
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break;
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case VAR_INT8: {
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// fetch data pointer
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int8_t *data = (int8_t *)getValuePointer(val) + i;
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// store value
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*data = (int8_t)atoi((const char*) valPtr);
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}
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break;
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case VAR_UINT16: {
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// fetch data pointer
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uint16_t *data = (uint16_t *)getValuePointer(val) + i;
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// store value
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*data = (uint16_t)atoi((const char*) valPtr);
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}
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break;
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case VAR_INT16: {
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// fetch data pointer
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int16_t *data = (int16_t *)getValuePointer(val) + i;
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// store value
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*data = (int16_t)atoi((const char*) valPtr);
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}
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break;
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}
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} else if ((valEnd == NULL) && (i == arrayLength - 1)) {
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array[i] = atoi(valPtr);
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uint8_t *ptr = getValuePointer(val);
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memcpy(ptr, array, arrayLength);
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// mark as changed
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valueChanged = true;
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} else {
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break;
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}
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}
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}
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// prepare to parse next item
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valPtr = valEndPtr + 1;
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}
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}
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}
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break;
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}
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if (valueChanged) {
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cliPrintf("%s set to ", valueTable[i].name);
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cliPrintf("%s set to ", val->name);
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cliPrintVar(val, 0);
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} else {
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cliPrintLine("Invalid value");
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@ -52,6 +52,16 @@ blackbox_encoding_unittest_SRC := \
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$(USER_DIR)/common/printf.c \
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$(USER_DIR)/common/typeconversion.c
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cli_unittest_SRC := \
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$(USER_DIR)/fc/cli.c \
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$(USER_DIR)/config/feature.c \
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$(USER_DIR)/config/parameter_group.c \
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$(USER_DIR)/common/typeconversion.c
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cli_unittest_DEFINES := \
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USE_CLI \
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SystemCoreClock=1000000 \
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OSD
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cms_unittest_SRC := \
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$(USER_DIR)/cms/cms.c \
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267
src/test/unit/cli_unittest.cc
Normal file
267
src/test/unit/cli_unittest.cc
Normal file
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@ -0,0 +1,267 @@
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/*
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* This file is part of Cleanflight.
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*
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* Cleanflight is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* Cleanflight is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <stdint.h>
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#include <stdbool.h>
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#include <stdio.h>
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#include <limits.h>
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#include <math.h>
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extern "C" {
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#include "platform.h"
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#include "target.h"
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#include "fc/runtime_config.h"
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#include "fc/fc_msp.h"
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#include "config/parameter_group.h"
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#include "config/feature.h"
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#include "config/parameter_group_ids.h"
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#include "sensors/battery.h"
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#include "drivers/buf_writer.h"
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#include "flight/mixer.h"
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#include "flight/servos.h"
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#include "flight/pid.h"
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#include "io/ledstrip.h"
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#include "io/serial.h"
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#include "io/osd.h"
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#include "fc/settings.h"
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#include "rx/rx.h"
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#include "io/beeper.h"
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#include "fc/rc_adjustments.h"
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#include "scheduler/scheduler.h"
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#include "fc/runtime_config.h"
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#include "build/version.h"
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#include "fc/config.h"
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#include "drivers/buf_writer.h"
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#include "fc/cli.h"
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void cliSet(char *cmdline);
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void cliGet(char *cmdline);
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void *getValuePointer(const clivalue_t *value);
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const clivalue_t valueTable[] = {
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{ "array_unit_test", VAR_INT8 | MODE_ARRAY | MASTER_VALUE, .config.array.length = 3, PG_RESERVED_FOR_TESTING_1, 0 }
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};
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const uint16_t valueTableEntryCount = ARRAYLEN(valueTable);
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const lookupTableEntry_t lookupTables[] = {};
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PG_REGISTER(osdConfig_t, osdConfig, PG_OSD_CONFIG, 0);
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PG_REGISTER(batteryConfig_t, batteryConfig, PG_BATTERY_CONFIG, 0);
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PG_REGISTER(ledStripConfig_t, ledStripConfig, PG_LED_STRIP_CONFIG, 0);
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PG_REGISTER(systemConfig_t, systemConfig, PG_SYSTEM_CONFIG, 0);
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PG_REGISTER_ARRAY(adjustmentRange_t, MAX_ADJUSTMENT_RANGE_COUNT, adjustmentRanges, PG_ADJUSTMENT_RANGE_CONFIG, 0);
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PG_REGISTER_ARRAY(modeActivationCondition_t, MAX_MODE_ACTIVATION_CONDITION_COUNT, modeActivationConditions, PG_MODE_ACTIVATION_PROFILE, 0);
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PG_REGISTER(mixerConfig_t, mixerConfig, PG_MIXER_CONFIG, 0);
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PG_REGISTER_ARRAY(motorMixer_t, MAX_SUPPORTED_MOTORS, customMotorMixer, PG_MOTOR_MIXER, 0);
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PG_REGISTER_ARRAY(servoParam_t, MAX_SUPPORTED_SERVOS, servoParams, PG_SERVO_PARAMS, 0);
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PG_REGISTER_ARRAY(servoMixer_t, MAX_SERVO_RULES, customServoMixers, PG_SERVO_MIXER, 0);
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PG_REGISTER(featureConfig_t, featureConfig, PG_FEATURE_CONFIG, 0);
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PG_REGISTER(beeperConfig_t, beeperConfig, PG_BEEPER_CONFIG, 0);
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PG_REGISTER(rxConfig_t, rxConfig, PG_RX_CONFIG, 0);
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PG_REGISTER(serialConfig_t, serialConfig, PG_SERIAL_CONFIG, 0);
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PG_REGISTER_ARRAY(rxChannelRangeConfig_t, NON_AUX_CHANNEL_COUNT, rxChannelRangeConfigs, PG_RX_CHANNEL_RANGE_CONFIG, 0);
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PG_REGISTER_ARRAY(rxFailsafeChannelConfig_t, MAX_SUPPORTED_RC_CHANNEL_COUNT, rxFailsafeChannelConfigs, PG_RX_FAILSAFE_CHANNEL_CONFIG, 0);
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PG_REGISTER(pidConfig_t, pidConfig, PG_PID_CONFIG, 0);
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PG_REGISTER_WITH_RESET_FN(int8_t, unitTestData, PG_RESERVED_FOR_TESTING_1, 0);
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}
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#include "unittest_macros.h"
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#include "gtest/gtest.h"
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TEST(CLIUnittest, TestCliSet)
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{
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cliSet((char *)"array_unit_test = 123, -3 , 1");
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const clivalue_t cval = {
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.name = "array_unit_test",
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.type = MODE_ARRAY | MASTER_VALUE | VAR_INT8,
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.pgn = PG_RESERVED_FOR_TESTING_1,
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.offset = 0
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};
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printf("\n===============================\n");
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int8_t *data = (int8_t *)getValuePointer(&cval);
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for(int i=0; i<3; i++){
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printf("data[%d] = %d\n", i, data[i]);
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}
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printf("\n===============================\n");
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EXPECT_EQ(123, data[0]);
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EXPECT_EQ( -3, data[1]);
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EXPECT_EQ( 1, data[2]);
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//cliGet((char *)"osd_item_vbat");
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//EXPECT_EQ(false, false);
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}
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// STUBS
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extern "C" {
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float motor_disarmed[MAX_SUPPORTED_MOTORS];
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uint16_t batteryWarningVoltage;
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uint8_t useHottAlarmSoundPeriod (void) { return 0; }
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const uint32_t baudRates[] = {0, 9600, 19200, 38400, 57600, 115200, 230400, 250000, 400000}; // see baudRate_e
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uint32_t micros(void) {return 0;}
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int32_t getAmperage(void) {
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return 100;
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}
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uint16_t getBatteryVoltage(void) {
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return 42;
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}
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batteryState_e getBatteryState(void) {
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return BATTERY_OK;
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}
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uint8_t calculateBatteryPercentageRemaining(void) {
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return 67;
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}
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uint8_t getMotorCount() {
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return 4;
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}
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void setPrintfSerialPort(struct serialPort_s) {}
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void tfp_printf(const char * expectedFormat, ...) {
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va_list args;
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va_start(args, expectedFormat);
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vprintf(expectedFormat, args);
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va_end(args);
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}
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void tfp_format(void *, void (*) (void *, char), const char * expectedFormat, va_list va) {
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vprintf(expectedFormat, va);
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}
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static const box_t boxes[] = { { 0, "DUMMYBOX", 0 } };
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const box_t *findBoxByPermanentId(uint8_t) { return &boxes[0]; }
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const box_t *findBoxByBoxId(boxId_e) { return &boxes[0]; }
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int8_t unitTestDataArray[3];
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void pgResetFn_unitTestData(int8_t *ptr) {
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ptr = &unitTestDataArray[0];
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}
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uint32_t getBeeperOffMask(void) { return 0; }
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uint32_t getPreferredBeeperOffMask(void) { return 0; }
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void beeper(beeperMode_e) {}
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void beeperSilence(void) {}
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void beeperConfirmationBeeps(uint8_t) {}
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void beeperWarningBeeps(uint8_t) {}
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void beeperUpdate(timeUs_t) {}
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uint32_t getArmingBeepTimeMicros(void) {return 0;}
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beeperMode_e beeperModeForTableIndex(int) {return BEEPER_SILENCE;}
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const char *beeperNameForTableIndex(int) {return NULL;}
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int beeperTableEntryCount(void) {return 0;}
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bool isBeeperOn(void) {return false;}
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void beeperOffSetAll(uint8_t) {}
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void setBeeperOffMask(uint32_t) {}
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void setPreferredBeeperOffMask(uint32_t) {}
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void beeperOffSet(uint32_t) {}
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void beeperOffClear(uint32_t) {}
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void beeperOffClearAll(void) {}
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bool parseColor(int, const char *) {return false; }
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void resetEEPROM(void) {}
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void bufWriterFlush(bufWriter_t *) {}
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void mixerResetDisarmedMotors(void) {}
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void gpsEnablePassthrough(struct serialPort_s *) {}
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bool parseLedStripConfig(int, const char *){return false; }
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const char rcChannelLetters[] = "AERT12345678abcdefgh";
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void parseRcChannels(const char *, rxConfig_t *){}
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void mixerLoadMix(int, motorMixer_t *) {}
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bool setModeColor(ledModeIndex_e, int, int) { return false; }
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float convertExternalToMotor(uint16_t ){ return 1.0; }
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uint8_t getCurrentPidProfileIndex(void){ return 1; }
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uint8_t getCurrentControlRateProfileIndex(void){ return 1; }
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void changeControlRateProfile(uint8_t) {}
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void resetAllRxChannelRangeConfigurations(rxChannelRangeConfig_t *) {}
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void writeEEPROM() {}
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serialPortConfig_t *serialFindPortConfiguration(serialPortIdentifier_e) {return NULL; }
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baudRate_e lookupBaudRateIndex(uint32_t){return BAUD_9600; }
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serialPortUsage_t *findSerialPortUsageByIdentifier(serialPortIdentifier_e){ return NULL; }
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serialPort_t *openSerialPort(serialPortIdentifier_e, serialPortFunction_e, serialReceiveCallbackPtr, uint32_t, portMode_t, portOptions_t) { return NULL; }
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void serialSetBaudRate(serialPort_t *, uint32_t) {}
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void serialSetMode(serialPort_t *, portMode_t) {}
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void serialPassthrough(serialPort_t *, serialPort_t *, serialConsumer *, serialConsumer *) {}
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uint32_t millis(void) { return 0; }
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uint8_t getBatteryCellCount(void) { return 1; }
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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);}
|
||||
|
||||
|
||||
}
|
||||
Loading…
Add table
Add a link
Reference in a new issue