diff --git a/quad/Makefile b/quad/Makefile
index b3d2929b7d5a0865ca98d033eddbb562381169c0..0a92c686ac1fd60dc693dbc0a8f0c86f0768331a 100644
--- a/quad/Makefile
+++ b/quad/Makefile
@@ -40,7 +40,7 @@ test: all
$(MAKE) -C src/quad_app test
ruby scripts/tests/test_safety_checks.rb
ruby scripts/tests/test_memory_integrity.rb
- # ruby scripts/tests/test_unix_uart.rb
+ ruby scripts/tests/test_communication.rb
clean:
rm -rf $(INCDIR) $(LIBDIR) $(OUTDIR) $(EXEDIR)
diff --git a/quad/scripts/tests/test_communication.rb b/quad/scripts/tests/test_communication.rb
new file mode 100644
index 0000000000000000000000000000000000000000..230eb7f793f89e98233754786f2f054ae70de6a9
--- /dev/null
+++ b/quad/scripts/tests/test_communication.rb
@@ -0,0 +1,72 @@
+#!/usr/bin/env ruby
+
+# UART test
+#
+# This test is pretty simple, just a UART smoke test, using
+# the debug callback on the quad
+
+script_dir = File.expand_path(File.dirname(__FILE__))
+require script_dir + "/testing_library"
+
+bin_dir = script_dir + "/../../bin/"
+Dir.chdir(bin_dir)
+
+Timeout::timeout(30) {
+
+ puts("Setting up...")
+
+ sleep 1
+
+ # Start virtual quad
+ quad_pid = Process.spawn("./virt-quad -q",
+ { :rlimit_as => 536870912, # 512 MiB total RAM
+ :rlimit_stack => 1048576}) # 1 MiB stack
+
+ delay_spin_cursor(1)
+
+ # Set RC switches
+ set_gear GEAR_OFF
+ set_flap FLAP_OFF
+
+ # Set initial quad orientation (flat on the ground, facing forward)
+ `./virt-quad set i2c_imu_x 0`
+ `./virt-quad set i2c_imu_y 0`
+ `./virt-quad set i2c_imu_z -1`
+ `./virt-quad set rc_roll 0.498`
+ `./virt-quad set rc_pitch 0.497`
+ `./virt-quad set rc_yaw 0.498`
+
+
+ #################
+ # Begin Tests
+ #################
+
+ begin
+
+ puts "------------------------------------------"
+ puts "-- Beginning basic communication test..."
+ puts "------------------------------------------"
+
+ for j in 1..10
+
+ # Send a debug command
+ Thread.new {
+ sleep 0.1
+ send_packet [0xBE, 1, 0, 0, 0, 0, 0, 0xBF]
+ }
+
+ msg = recv_packet
+ puts msg
+ assert_equal(msg.force_encoding("UTF-8"), "Packets received: #{j}")
+ end
+
+ puts "Basic communication test passed."
+ puts "------------------------------------------"
+
+ ensure
+
+ Process.kill(9, quad_pid)
+ Process.wait(quad_pid)
+
+ end
+}
diff --git a/quad/scripts/tests/test_memory_integrity.rb b/quad/scripts/tests/test_memory_integrity.rb
index f422b49e81043f469d93b5f3f5eb87d0f62252ef..fe145365c667100635f6d632ff3bd0655aeaafe0 100644
--- a/quad/scripts/tests/test_memory_integrity.rb
+++ b/quad/scripts/tests/test_memory_integrity.rb
@@ -26,7 +26,9 @@ set_flap FLAP_ON
##################
begin
- puts("Starting flight...")
+ puts "------------------------------------------"
+ puts "-- Beginning memory integrity test..."
+ puts "------------------------------------------"
# Set initial quad orientation (flat on ground, facing forward)
`./virt-quad set i2c_imu_x 0`
@@ -94,12 +96,14 @@ ensure
everything = file.readlines
last_line = everything.last
errors = last_line.scanf("%s ERROR SUMMARY: %d errors %s")
+ puts everything
if errors[1] > 0
- puts everything
puts "Memory Integrity Check Failed."
+ puts "------------------------------------------"
Kernel.exit(1)
end
puts "Memory Integrity Check Passed."
+ puts "------------------------------------------"
end
diff --git a/quad/scripts/tests/test_safety_checks.rb b/quad/scripts/tests/test_safety_checks.rb
index f7cd8ddb0e4ba010ce4e5b0feb717678a6c3e35f..b39685af90c811713baf95e90de83d7d18a08a7f 100644
--- a/quad/scripts/tests/test_safety_checks.rb
+++ b/quad/scripts/tests/test_safety_checks.rb
@@ -40,7 +40,9 @@ Timeout::timeout(60) {
#################
begin
- puts("Beginning tests...")
+ puts "------------------------------------------"
+ puts "-- Beginning safety checks test..."
+ puts "------------------------------------------"
puts("Check that motors are off at startup")
check_motors_are_off "Motors weren't off at startup! How dangerous!"
@@ -141,6 +143,7 @@ Timeout::timeout(60) {
set_throttle THROTTLE_MIN
puts "All safety checks passed."
+ puts "------------------------------------------"
ensure
diff --git a/quad/scripts/tests/test_unix_uart.rb b/quad/scripts/tests/test_unix_uart.rb
deleted file mode 100644
index 1c9b6a82e4fb3c84ded4038e666378c8b4a5016f..0000000000000000000000000000000000000000
--- a/quad/scripts/tests/test_unix_uart.rb
+++ /dev/null
@@ -1,74 +0,0 @@
-#!/usr/bin/env ruby
-
-# UART test
-#
-# This test is pretty simple, just a UART smoke test, using
-# the debug callback on the quad
-
-script_dir = File.expand_path(File.dirname(__FILE__))
-require script_dir + "/testing_library"
-
-bin_dir = script_dir + "/../../bin/"
-Dir.chdir(bin_dir)
-
-
-Timeout::timeout(30) {
-
- puts("Setting up...")
-
- sleep 1
-
- # Start virtual quad
- quad_pid = Process.spawn("./virt-quad -q",
- { :rlimit_as => 536870912, # 512 MiB total RAM
- :rlimit_stack => 1048576}) # 1 MiB stack
-
- delay_spin_cursor(5)
-
- #################
- # Begin Tests
- #################
-
- begin
-
- puts("Beginning tests...")
-
- # Flip gear on
- File.write(GEAR, GEAR_ON)
- sleep 0.015
-
- for j in 1..10
- # Send a debug command
- File.write(UART_RX, [0xBE, 1, 0, 0, 0, 0, 0, 0xBF].pack("CCCCCCCC"))
-
- fifo = File.open(UART_TX)
-
- # Receive the header
- msg = []
- for i in 1..7
- sleep 0.010
- msg.push(fifo.read(1))
- end
-
- # Receive the remaining data, according to the header specified length
- length = msg[5..7].join().unpack("S")[0]
- msg = []
- for i in 1..length
- sleep 0.010
- msg.push(fifo.read(1))
- end
- fifo.close
-
- puts msg.join()
- assert_equal(msg.join().force_encoding("UTF-8"), "Packets received: #{j}")
- end
-
- puts "Basic UART test passed."
-
- ensure
-
- Process.kill(9, quad_pid)
- Process.wait(quad_pid)
-
- end
-}
diff --git a/quad/scripts/tests/testing_library.rb b/quad/scripts/tests/testing_library.rb
index e8afdc7a01574016cc861c265624c422b2fbd9ef..b3ac12bfaa454e825b47c2c0975d0ee6f846fe13 100644
--- a/quad/scripts/tests/testing_library.rb
+++ b/quad/scripts/tests/testing_library.rb
@@ -13,20 +13,6 @@ FLAP_ON = 0.9
FLAP_OFF = 0.1
GRAVITY = 4096
-MOTOR1 = "virt-quad-fifos/motor1"
-MOTOR2 = "virt-quad-fifos/motor2"
-MOTOR3 = "virt-quad-fifos/motor3"
-MOTOR4 = "virt-quad-fifos/motor4"
-
-GEAR = "virt-quad-fifos/rc-gear"
-THROTTLE = "virt-quad-fifos/rc-throttle"
-
-LED = "virt-quad-fifos/mio7-led"
-
-I2C_MPU_ACCEL_X = "virt-quad-fifos/i2c-mpu-accel-x"
-I2C_MPU_ACCEL_Y = "virt-quad-fifos/i2c-mpu-accel-y"
-I2C_MPU_ACCEL_Z = "virt-quad-fifos/i2c-mpu-accel-z"
-
UART_RX = "virt-quad-fifos/uart-rx"
UART_TX = "virt-quad-fifos/uart-tx"
@@ -92,3 +78,30 @@ def delay_spin_cursor(delay)
print "\b"
end
end
+
+def send_packet(bytes)
+ File.write(UART_RX, bytes.pack("C" * bytes.length))
+end
+
+def recv_packet
+ fifo = File.open(UART_TX)
+
+ # Receive the header
+ msg = []
+ for i in 1..7
+ sleep 0.010
+ c = fifo.read(1)
+ msg.push(c)
+ end
+
+ # Receive the remaining data, according to the header specified length
+ length = msg[5..7].join().unpack("S")[0]
+ msg = []
+ for i in 1..length
+ sleep 0.010
+ msg.push(fifo.read(1))
+ end
+ fifo.close
+
+ msg.join()
+end