From 2e7e169022c8da7b2ba2c02893fb05f61fc2f380 Mon Sep 17 00:00:00 2001
From: Brendan Bartels <bbartels@iastate.edu>
Date: Wed, 5 Apr 2017 18:37:09 -0500
Subject: [PATCH] quad: enable virtual quad to take a quiet flag to silence
output
this resolves #3
---
quad/scripts/tests/run_virtual_test_flight.rb | 8 +++++---
quad/scripts/tests/test_safety_checks.rb | 6 +++---
quad/scripts/tests/test_unix_uart.rb | 4 ++--
quad/scripts/tests/testing_library.rb | 12 ++++++++++++
quad/src/virt_quad/main.c | 19 +++++++++++++++++--
5 files changed, 39 insertions(+), 10 deletions(-)
diff --git a/quad/scripts/tests/run_virtual_test_flight.rb b/quad/scripts/tests/run_virtual_test_flight.rb
index 9893fd2f4..17e6bc732 100644
--- a/quad/scripts/tests/run_virtual_test_flight.rb
+++ b/quad/scripts/tests/run_virtual_test_flight.rb
@@ -11,10 +11,12 @@ require script_dir + "/testing_library"
bin_dir = script_dir + "/../../bin/"
Dir.chdir(bin_dir)
+puts("Firing up the quad...")
+
# Start virtual quad
-quad = Process.spawn("./virt-quad")
+quad = Process.spawn("./virt-quad -q")
-sleep 1
+delay_spin_cursor(3)
##################
# Begin Flight!
@@ -37,7 +39,7 @@ begin
end
puts("Hovering for 10 seconds")
- sleep 10
+ delay_spin_cursor(10)
puts("Relaxing thrust to zero")
i = THROTTLE_MID
diff --git a/quad/scripts/tests/test_safety_checks.rb b/quad/scripts/tests/test_safety_checks.rb
index ae281c259..6faa9546f 100644
--- a/quad/scripts/tests/test_safety_checks.rb
+++ b/quad/scripts/tests/test_safety_checks.rb
@@ -20,11 +20,11 @@ Timeout::timeout(30) {
sleep 1
# Start virtual quad
- quad_pid = Process.spawn("./virt-quad",
+ quad_pid = Process.spawn("./virt-quad -q",
{ :rlimit_as => 536870912, # 512 MiB total RAM
:rlimit_stack => 1048576}) # 1 MiB stack
- sleep 5
+ delay_spin_cursor(5)
#################
# Begin Tests
@@ -83,7 +83,7 @@ Timeout::timeout(30) {
puts averages, "(#{average})"
assert average.between?(THROTTLE_EIGHTH, MOTOR_MAX)
- # Check that gear switch kills the motors
+ puts("Check that gear switch kills the motors")
# (and that light goes off)
File.write(GEAR, GEAR_OFF)
sleep 0.1
diff --git a/quad/scripts/tests/test_unix_uart.rb b/quad/scripts/tests/test_unix_uart.rb
index d3164238f..1c9b6a82e 100644
--- a/quad/scripts/tests/test_unix_uart.rb
+++ b/quad/scripts/tests/test_unix_uart.rb
@@ -19,11 +19,11 @@ Timeout::timeout(30) {
sleep 1
# Start virtual quad
- quad_pid = Process.spawn("./virt-quad",
+ quad_pid = Process.spawn("./virt-quad -q",
{ :rlimit_as => 536870912, # 512 MiB total RAM
:rlimit_stack => 1048576}) # 1 MiB stack
- sleep 5
+ delay_spin_cursor(5)
#################
# Begin Tests
diff --git a/quad/scripts/tests/testing_library.rb b/quad/scripts/tests/testing_library.rb
index a7c4c1ed8..668e2bad9 100644
--- a/quad/scripts/tests/testing_library.rb
+++ b/quad/scripts/tests/testing_library.rb
@@ -75,3 +75,15 @@ def check_led(is_on)
led = read_fifo_num(LED)
assert_equal(led, is_on)
end
+
+def delay_spin_cursor(delay)
+ fps = 10
+ chars = %w[| / - \\]
+ iteations = delay * fps
+ iter = 0
+ iteations.times() do
+ print chars[(iter+=1) % chars.length]
+ sleep (1.0/fps)
+ print "\b"
+ end
+end
diff --git a/quad/src/virt_quad/main.c b/quad/src/virt_quad/main.c
index a87b8013f..f703f6ab7 100644
--- a/quad/src/virt_quad/main.c
+++ b/quad/src/virt_quad/main.c
@@ -1,6 +1,8 @@
#include <stdio.h>
+#include <unistd.h>
#include "hw_impl_unix.h"
#include "quad_app.h"
+#include <fcntl.h>
int setup_hardware(hardware_t *hardware) {
hardware->i2c = create_unix_i2c();
@@ -14,8 +16,21 @@ int setup_hardware(hardware_t *hardware) {
return 0;
}
-int main()
-{
+int main(int argc, char *argv[]) {
+ int fd, opt;
+ while ((opt = getopt(argc, argv, "q")) != -1) {
+ switch (opt) {
+ case 'q':
+ fd = open("/dev/null", O_WRONLY);
+ close(STDOUT_FILENO);
+ dup2(STDOUT_FILENO, fd);
+ break;
+ default: /* '?' */
+ fprintf(stderr, "Usage: %s [-q]\n", argv[0]);
+ exit(EXIT_FAILURE);
+ }
+ }
+
quad_main(setup_hardware);
return 0;
}
--
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