diff --git a/quad/scripts/tests/test_logging.rb b/quad/scripts/tests/test_logging.rb
index 58d16f73caa7837e2b9aa82dfa48e0e7bbb257d4..f5b7c51b473f06ed692d57e1c9a1c95cbe2614bb 100644
--- a/quad/scripts/tests/test_logging.rb
+++ b/quad/scripts/tests/test_logging.rb
@@ -11,22 +11,40 @@ require script_dir + "/testing_library"
bin_dir = script_dir + "/../../bin/"
Dir.chdir(bin_dir)
-Timeout::timeout(30) {
- puts("Setting up...")
+puts("Setting up...")
- # Start virtual quad
- quad_pid = Process.spawn("./virt-quad start -q",
- { :rlimit_as => 536870912, # 512 MiB total RAM
- :rlimit_stack => 1048576}) # 1 MiB stack
+# Start virtual quad
+quad_pid = Process.spawn("./virt-quad start -q",
+ { :rlimit_as => 536870912, # 512 MiB total RAM
+ :rlimit_stack => 1048576}) # 1 MiB stack
- sleep 0.5
+sleep 0.5
- # Set RC switches
- set_gear GEAR_OFF
- set_flap FLAP_OFF
+# 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 the ground, facing forward)
+ # 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`
@@ -34,84 +52,62 @@ Timeout::timeout(30) {
`./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
- #################
- # 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("Increasing Thrust to half maximum...")
+ for i in (THROTTLE_MIN..THROTTLE_MID).step(0.01)
+ set_throttle(i)
+ sleep 0.005
+ end
- puts("Switching to autonomous and hovering for 3 seconds")
- set_flap FLAP_OFF
- sleep 3
+ puts("Hovering for 1 seconds")
+ sleep 1
- 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
+ puts("Switching to autonomous and hovering for 1 seconds")
+ set_flap FLAP_OFF
+ sleep 1
+
+ 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
+ # Get logs
- Thread.new {
- sleep 1
- puts("Swiching off GEAR...")
- set_gear GEAR_OFF
- }
+ Thread.new {
+ sleep 1
+ puts("Switching off GEAR...")
+ set_gear GEAR_OFF
+ }
- logs = []
+ puts("Preparing to receive logs. This might take a while. You can ctrl-c to quit early.")
+ logs = []
- begin
- while true
- logs.push(recv_packet)
- end
- rescue Timeout::Error
- puts "No logs left"
+ begin
+ while true
+ logs.push(recv_packet)
end
+ rescue Exception
+ end
- if logs.length == 2
- log_data = logs[1].split("\n")
- for data in log_data
- puts data
- end
- p log_data.length
- end
+ for data in logs
+ puts data
+ end
- puts "------------------------------------------"
+ puts "#{logs.length} total logs recieved"
- ensure
+ puts "------------------------------------------"
- Process.kill(9, quad_pid)
- Process.wait(quad_pid)
+ensure
- end
-}
+ 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 aad1ba85660bc1f2d2a9e50dfbeacc4a8243e08e..a21202caf18568346dd25a747b33fe1208bdcfce 100644
--- a/quad/scripts/tests/testing_library.rb
+++ b/quad/scripts/tests/testing_library.rb
@@ -72,15 +72,19 @@ def send_packet(bytes)
end
def recv_packet
+ c = 'c'
+ msg = []
fifo = nil
- Timeout::timeout(5) {
- fifo = File.open(UART_TX)
+ Timeout::timeout(3) {
+ fifo = File.open(UART_TX, "r+")
}
# Receive the header
msg = []
for i in 1..7
- c = fifo.read(1)
+ Timeout::timeout(3) {
+ c = fifo.read(1)
+ }
msg.push(c)
end
@@ -89,7 +93,9 @@ def recv_packet
msg = []
for i in 1..length
- c = fifo.read(1)
+ Timeout::timeout(3) {
+ c = fifo.read(1)
+ }
msg.push(c)
end
fifo.close
diff --git a/quad/test_logging/Makefile b/quad/test_logging/Makefile
deleted file mode 100644
index d30eb0102cea878e910d440437f4c185e2562b30..0000000000000000000000000000000000000000
--- a/quad/test_logging/Makefile
+++ /dev/null
@@ -1,3 +0,0 @@
-CC=gcc
-test: test.c
- $(CC) -o test_log -I. -I../src/quad_app -I../src/computation_graph test.c ../src/quad_app/*.c ../src/computation_graph/*.c -lm
diff --git a/quad/test_logging/log.txt b/quad/test_logging/log.txt
deleted file mode 100644
index c66e5152c66693e82bc287674ba3359ab6710dd4..0000000000000000000000000000000000000000
--- a/quad/test_logging/log.txt
+++ /dev/null
@@ -1,7 +0,0 @@
-# MicroCART On-board Quad Log
-# Sample size: 3
-time accel_x accel_y accel_z gyro_x gyro_y gyro_z Altitude PID_Correction X pos PID_Correction Y pos PID_Correction Pitch PID_Correction Roll PID_Correction Yaw PID_Correction Pitch Rate PID_Correction Roll Rate PID_Correction Yaw Rate PID_Correction Pitch_Constant Roll_Constant Yaw_Constant VRPN X_Constant VRPN Y_Constant VRPN Alt_Constant VRPN Pitch_Constant VRPN Roll_Constant X Setpoint_Constant Y Setpoint_Constant Alt Setpoint_Constant Yaw Setpoint_Constant Signal Mixer_PWM 0 Signal Mixer_PWM 1 Signal Mixer_PWM 2 Signal Mixer_PWM 3
-s G G G rad/s rad/s rad/s 10ns_dutycycle rad rad rad/s rad/s rad/s 10ns_dutycycle 10ns_dutycycle 10ns_dutycycle rad rad rad m m m rad rad m m m rad 10ns_dutycycle 10ns_dutycycle 10ns_dutycycle 10ns_dutycycle
-0.000000 0.000000 0.000000 0.000000 0.000000 4722366482869645213696.000000 -nan 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
-0.000000 0.000000 0.000000 0.000000 0.000000 4722366482869645213696.000000 -nan 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
-0.000000 0.000000 0.000000 0.000000 0.000000 4722366482869645213696.000000 -nan 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
diff --git a/quad/test_logging/test.c b/quad/test_logging/test.c
deleted file mode 100644
index 7fd26a97d187f96630e209fa04f5364fdbdcef58..0000000000000000000000000000000000000000
--- a/quad/test_logging/test.c
+++ /dev/null
@@ -1,22 +0,0 @@
-#include <stddef.h>
-#include "type_def.h"
-#include "log_data.h"
-#include "control_algorithm.h"
-
-int zybo_uart_write(struct UARTDriver *self, unsigned char c) {
- printf("%c", c);
- return 0;
-}
-
-
-int main() {
- modular_structs_t structs;
- structs.hardware_struct.uart.write = zybo_uart_write;
- control_algorithm_init(&(structs.parameter_struct));
- initialize_logging(&structs.log_struct, &structs.parameter_struct);
- log_data(&(structs.log_struct), &(structs.parameter_struct));
- log_data(&(structs.log_struct), &(structs.parameter_struct));
- log_data(&(structs.log_struct), &(structs.parameter_struct));
- printLogging(&structs.hardware_struct, &(structs.log_struct), &(structs.parameter_struct));
- return 0;
-}
diff --git a/quad/test_logging/test_log b/quad/test_logging/test_log
deleted file mode 100644
index e9c0b45a27eb1eb96d051a7ec6738d3c8ff5adba..0000000000000000000000000000000000000000
Binary files a/quad/test_logging/test_log and /dev/null differ