diff --git a/quad/scripts/tests/test_communication.rb b/quad/scripts/tests/test_communication.rb
index 5f562c48f394c44589e1aa22063d5f05ea62c5d2..4887a29bca60829b2a4bf4691a5c9de0e9fe546d 100644
--- a/quad/scripts/tests/test_communication.rb
+++ b/quad/scripts/tests/test_communication.rb
@@ -53,7 +53,28 @@ Timeout::timeout(30) {
send_packet [0xBE, 1, 0, 0, 0, 0, 0, 0xBF]
}
- msg = recv_packet
+ fifo = File.open(UART_TX)
+
+ # Receive the header
+ msg = []
+ for i in 1..7
+ sleep 0.0001
+ 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 0.0001
+ c = fifo.read(1)
+ msg.push(c)
+ end
+ fifo.close
+
+ msg = msg.join()
puts msg
assert_equal(msg.force_encoding("UTF-8"), "Packets received: #{j}")
end
diff --git a/quad/scripts/tests/test_logging.rb b/quad/scripts/tests/test_logging.rb
new file mode 100644
index 0000000000000000000000000000000000000000..a0e86e716eb4ccd71435b0f88a16f40e7f40e712
--- /dev/null
+++ b/quad/scripts/tests/test_logging.rb
@@ -0,0 +1,117 @@
+#!/usr/bin/env ruby
+
+# Logging test
+#
+# Let the quad fly for a bit, and then ensure we can
+# get its logs
+
+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...")
+
+ # Start virtual quad
+ quad_pid = Process.spawn("./virt-quad -q",
+ { :rlimit_as => 536870912, # 512 MiB total RAM
+ :rlimit_stack => 1048576}) # 1 MiB stack
+
+ sleep 0.5
+
+ # 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 logging test..."
+ puts "------------------------------------------"
+
+ # Set initial quad orientation (flat on 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`
+
+ puts("Turning on GEAR...")
+ set_gear GEAR_ON
+ set_flap FLAP_ON
+ sleep 0.015
+
+ puts("Increasing Thrust to half maximum...")
+ for i in (THROTTLE_MIN..THROTTLE_MID).step(0.01)
+ set_throttle(i)
+ sleep 0.005
+ end
+
+ puts("Hovering for 3 seconds")
+ sleep 3
+
+ puts("Switching to autonomous and hovering for 3 seconds")
+ set_flap FLAP_OFF
+ sleep 3
+
+ puts("Switch back to manual, relaxing thrust to zero")
+ set_flap FLAP_ON
+ i = THROTTLE_MID
+ while i > THROTTLE_MIN
+ i -= 0.01
+ set_throttle(i)
+ sleep 0.005
+ end
+
+ # Get logs
+
+ Thread.new {
+ sleep 0.5
+ puts("Swiching off GEAR...")
+ set_gear GEAR_OFF
+ }
+
+ logs = []
+
+ begin
+ while true
+ logs.push(recv_packet)
+ end
+ rescue Timeout::Error
+ puts "No logs left"
+ end
+
+ if logs.length == 2
+ log_data = logs[1].split("\n")
+ for data in log_data
+ puts data
+ end
+ p log_data.length
+ end
+
+ 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 31de3a763a43c727e57d9f352e2ec81a49dd8c27..d7116c1d4f2d3cd1d59e33824225c5f127c70c44 100644
--- a/quad/scripts/tests/test_memory_integrity.rb
+++ b/quad/scripts/tests/test_memory_integrity.rb
@@ -52,11 +52,11 @@ begin
sleep 3
puts("Switching to autonomous and hovering for 3 seconds")
- set_flap FLAP_ON
+ set_flap FLAP_OFF
sleep 3
puts("Switch back to manual, relaxing thrust to zero")
- set_flap FLAP_OFF
+ set_flap FLAP_ON
i = THROTTLE_MID
while i > THROTTLE_MIN
i -= 0.01
@@ -67,11 +67,14 @@ begin
puts("Swiching off GEAR...")
set_gear GEAR_OFF
+ sleep 3
+
+ set_throttle THROTTLE_MIN
+
puts("Flight ended successfully.");
ensure
Process.kill(2, quad)
-
sleep 1 # wait for valgrind to write to file
# Process the valgrind file
diff --git a/quad/scripts/tests/testing_library.rb b/quad/scripts/tests/testing_library.rb
index 524ef76cafff1a2de9b3303707cd9eb484b935a6..aad1ba85660bc1f2d2a9e50dfbeacc4a8243e08e 100644
--- a/quad/scripts/tests/testing_library.rb
+++ b/quad/scripts/tests/testing_library.rb
@@ -72,22 +72,25 @@ def send_packet(bytes)
end
def recv_packet
- fifo = File.open(UART_TX)
+ fifo = nil
+ Timeout::timeout(5) {
+ 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))
+ c = fifo.read(1)
+ msg.push(c)
end
fifo.close
diff --git a/quad/src/virt_quad/hw_impl_unix_uart.c b/quad/src/virt_quad/hw_impl_unix_uart.c
index e39fbedfc06f93a75a8e682cb44d81be98f790bf..e750b29721faeef14b1dd60ec00c50eae00f3421 100644
--- a/quad/src/virt_quad/hw_impl_unix_uart.c
+++ b/quad/src/virt_quad/hw_impl_unix_uart.c
@@ -30,8 +30,8 @@ int unix_uart_write(struct UARTDriver *self, unsigned char c) {
if (fifo >= 0) {
printf("%s: %x\n", "uart-tx", c);
write(fifo, &c, 1);
+ close(fifo);
}
- close(fifo);
return 0;
}