diff --git a/ci-test.sh b/ci-test.sh
index c79ad9703580d64f4db35e914c7d5c2eb7134fb6..2b8060ce46483f7f59862936c1f69ff30e6c68bc 100644
--- a/ci-test.sh
+++ b/ci-test.sh
@@ -4,4 +4,4 @@ set -e
export PATH=/usr/local/bin:$PATH
# Quad
-(cd quad && make test)
+(cd quad && make deep-clean && make && make test)
diff --git a/quad/Makefile b/quad/Makefile
index b5527481519cb1d1c611395e7202833bdbdb042a..f27a39d37141e31878c324788ef9c141db241be5 100644
--- a/quad/Makefile
+++ b/quad/Makefile
@@ -38,8 +38,8 @@ test: all
$(MAKE) -C src/queue test
$(MAKE) -C src/computation_graph test
$(MAKE) -C src/quad_app test
- #ruby scripts/tests/test_safety_checks.rb
- #ruby scripts/tests/test_unix_uart.rb
+ ruby scripts/tests/test_safety_checks.rb
+ ruby scripts/tests/test_unix_uart.rb
clean:
rm -rf $(INCDIR) $(LIBDIR) $(OUTDIR) $(EXEDIR)
diff --git a/quad/scripts/tests/test_safety_checks.rb b/quad/scripts/tests/test_safety_checks.rb
index f4e6904955db2d2fd99a220c6c79257e4ed4956a..f2f35d30d22d4eaf2a6d8eb3cafbb0d6d244945f 100644
--- a/quad/scripts/tests/test_safety_checks.rb
+++ b/quad/scripts/tests/test_safety_checks.rb
@@ -32,6 +32,7 @@ I2C_MPU_ACCEL_Y = "virt-quad-fifos/i2c-mpu-accel-y"
I2C_MPU_ACCEL_Z = "virt-quad-fifos/i2c-mpu-accel-z"
require 'test/unit/assertions'
+require 'timeout'
require 'thread'
include Test::Unit::Assertions
@@ -73,97 +74,106 @@ def get_motor_averages
average
end
-def check_led(on)
+def check_led(is_on)
led = read_fifo_num(LED)
- assert_equal(led, on)
+ assert_equal(led, is_on)
end
-script_dir = File.expand_path(File.dirname(__FILE__))
-bin_dir = script_dir + "/../../bin/"
-Dir.chdir(bin_dir)
+Timeout::timeout(30) {
-# Start virtual quad
-quad = Process.spawn("./virt-quad")
+ puts("Setting up...")
-sleep 1
+ script_dir = File.expand_path(File.dirname(__FILE__))
+ bin_dir = script_dir + "/../../bin/"
+ Dir.chdir(bin_dir)
-#################
-# Begin Tests
-#################
+ sleep 1
+
+ # Start virtual quad
+ quad_pid = Process.spawn("./virt-quad")
+
+ sleep 5
+
+ #################
+ # Begin Tests
+ #################
-begin
- puts("beginning tests")
-
- # Set gravity
- File.write(I2C_MPU_ACCEL_Z, -1 * GRAVITY)
+ begin
- puts("Check that motors are off at startup")
- check_motors_are_off
+ puts("Beginning tests...")
- puts("Check that LED is off at startup")
- check_led(0)
+ # Set gravity
+ File.write(I2C_MPU_ACCEL_Z, -1 * GRAVITY)
- puts("Check that increasing the throttle does nothing to motors")
- # (because gear is still off)
- for i in (THROTTLE_MIN..THROTTLE_MAX).step(1000)
- File.write(THROTTLE, i)
+ puts("Check that motors are off at startup")
check_motors_are_off
- sleep 0.005
- end
- puts("Check that flipping gear to 1 while throttle is high does nothing")
- # (motors should still be off, LED should still be off)
- File.write(GEAR, GEAR_ON)
- sleep 0.015
- check_motors_are_off
- i = THROTTLE_MAX
- while i > THROTTLE_MID
- i -= 1000
- File.write(THROTTLE, i)
+ puts("Check that LED is off at startup")
+ check_led(0)
+
+ puts("Check that increasing the throttle does nothing to motors")
+ # (because gear is still off)
+ for i in (THROTTLE_MIN..THROTTLE_MAX).step(1000)
+ File.write(THROTTLE, i)
+ check_motors_are_off
+ sleep 0.005
+ end
+
+ puts("Check that flipping gear to 1 while throttle is high does nothing")
+ # (motors should still be off, LED should still be off)
+ File.write(GEAR, GEAR_ON)
+ sleep 0.015
+ check_motors_are_off
+ i = THROTTLE_MAX
+ while i > THROTTLE_MID
+ i -= 1000
+ File.write(THROTTLE, i)
+ check_motors_are_off
+ check_led 0
+ sleep 0.005
+ end
+
+ # (swtich GEAR back to off and bring throttle off)
+ File.write(GEAR, GEAR_OFF)
+ File.write(THROTTLE, THROTTLE_MIN)
+
+ puts("Check that the LED turns on when gear is flipped on")
+ # (motors should still be off because our throttle is low)
+ File.write(GEAR, GEAR_ON)
+ sleep 0.1
+ check_led 1
+ check_motors_are_off
+
+ puts("Check that motors turn on")
+ File.write(THROTTLE, THROTTLE_MID)
+ averages = get_motor_averages
+ average = (averages[0] + averages[1] + averages[2] + averages[3])/4
+ puts averages, "(#{average})"
+ assert average.between?(THROTTLE_EIGHTH, MOTOR_MAX)
+
+ # Check that gear switch kills the motors
+ # (and that light goes off)
+ File.write(GEAR, GEAR_OFF)
+ sleep 0.1
check_motors_are_off
check_led 0
- sleep 0.005
- end
- # (swtich GEAR back to off and bring throttle off)
- File.write(GEAR, GEAR_OFF)
- File.write(THROTTLE, THROTTLE_MIN)
-
- puts("Check that the LED turns on when gear is flipped on")
- # (motors should still be off because our throttle is low)
- File.write(GEAR, GEAR_ON)
- sleep 0.020
- check_led 1
- check_motors_are_off
-
- puts("Check that motors turn on")
- File.write(THROTTLE, THROTTLE_MID)
- averages = get_motor_averages
- average = (averages[0] + averages[1] + averages[2] + averages[3])/4
- puts averages, "(#{average})"
- assert average.between?(THROTTLE_EIGHTH, MOTOR_MAX)
-
- # Check that gear switch kills the motors
- # (and that light goes off)
- File.write(GEAR, GEAR_OFF)
- sleep 0.040
- check_motors_are_off
- check_led 0
-
- # (Bring the RC throttle back down)
- File.write(THROTTLE, THROTTLE_MIN)
-
- # Check that we can resume flight
- File.write(GEAR, GEAR_ON)
- sleep 0.040
- check_led 1
+ # (Bring the RC throttle back down)
+ File.write(THROTTLE, THROTTLE_MIN)
- sleep 1
- puts "All safety checks passed."
+ # Check that we can resume flight
+ File.write(GEAR, GEAR_ON)
+ sleep 0.1
+ check_led 1
-ensure
+ sleep 1
+ puts "All safety checks passed."
- Process.kill(9, quad)
+ ensure
-end
+ Process.kill(9, quad_pid)
+ Process.wait(quad_pid)
+
+ end
+}
diff --git a/quad/scripts/tests/test_unix_uart.rb b/quad/scripts/tests/test_unix_uart.rb
index 6621744e33f2a789bf191b33a58586b769f533f4..6b5d1469326581787b1278c5c0ac9748e74f2195 100644
--- a/quad/scripts/tests/test_unix_uart.rb
+++ b/quad/scripts/tests/test_unix_uart.rb
@@ -15,54 +15,64 @@ UART_TX = "virt-quad-fifos/uart-tx"
require 'test/unit/assertions'
require 'thread'
+require 'timeout'
include Test::Unit::Assertions
-script_dir = File.expand_path(File.dirname(__FILE__))
-bin_dir = script_dir + "/../../bin/"
-Dir.chdir(bin_dir)
+Timeout::timeout(30) {
-# Start virtual quad
-quad = Process.spawn("./virt-quad")
+ puts("Setting up...")
-sleep 1
+ script_dir = File.expand_path(File.dirname(__FILE__))
+ bin_dir = script_dir + "/../../bin/"
+ Dir.chdir(bin_dir)
-#################
-# Begin Tests
-#################
+ sleep 1
-begin
+ # Start virtual quad
+ quad_pid = Process.spawn("./virt-quad")
- # Flip gear on
- File.write(GEAR, GEAR_ON)
- sleep 0.015
+ sleep 5
- for j in 1..10
- # Send a debug command
- File.write(UART_RX, [0xBE, 1, 0, 0, 0, 0, 0, 0xBF].pack("CCCCCCCC"))
+ #################
+ # Begin Tests
+ #################
- fifo = File.open(UART_TX)
- msg = []
- for i in 1..7
- sleep 0.010
- msg.push(fifo.read(1))
- end
- 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
+ begin
- puts msg.join()
- assert_equal(msg.join().force_encoding("UTF-8"), "Packets received: #{j}")
- end
+ puts("Beginning tests...")
+
+ # Flip gear on
+ File.write(GEAR, GEAR_ON)
+ sleep 0.015
- puts "Basic UART test passed."
+ for j in 1..10
+ # Send a debug command
+ File.write(UART_RX, [0xBE, 1, 0, 0, 0, 0, 0, 0xBF].pack("CCCCCCCC"))
-ensure
+ fifo = File.open(UART_TX)
+ msg = []
+ for i in 1..7
+ sleep 0.010
+ msg.push(fifo.read(1))
+ end
+ 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
- Process.kill(9, quad)
+ puts msg.join()
+ assert_equal(msg.join().force_encoding("UTF-8"), "Packets received: #{j}")
+ end
+
+ puts "Basic UART test passed."
-end
+ ensure
+ Process.kill(9, quad_pid)
+ Process.wait(quad_pid)
+
+ end
+}
diff --git a/quad/src/virt_quad/hw_impl_unix_i2c.c b/quad/src/virt_quad/hw_impl_unix_i2c.c
index 9de9815c2f7a941b0b553df525a3436f069ae0c4..c32e0c4ea56546a7699ee32e0cfc1170566f167f 100644
--- a/quad/src/virt_quad/hw_impl_unix_i2c.c
+++ b/quad/src/virt_quad/hw_impl_unix_i2c.c
@@ -20,14 +20,8 @@ static short last_dev;
static short last_reg;
static short last_val;
-static int zero = 0;
-static int one = 1;
-static int two = 2;
-static int three = 3;
-static int four = 4;
-static int five = 5;
-
-static pthread_t worker;
+static int nums[] = {0, 1, 2, 3, 4, 5};
+static pthread_t workers[6];
int unix_i2c_reset(struct I2CDriver *self) {
input_names[0] = "i2c-mpu-accel-x";
@@ -40,12 +34,10 @@ int unix_i2c_reset(struct I2CDriver *self) {
mkdir(VIRT_QUAD_FIFOS_DIR, 0777);
// Start up worker thread whose job is to update the caches
- pthread_create(&worker, 0, update_i2c_input_cache, &zero);
- pthread_create(&worker, 0, update_i2c_input_cache, &one);
- pthread_create(&worker, 0, update_i2c_input_cache, &two);
- pthread_create(&worker, 0, update_i2c_input_cache, &three);
- pthread_create(&worker, 0, update_i2c_input_cache, &four);
- pthread_create(&worker, 0, update_i2c_input_cache, &five);
+ int i;
+ for (i = 0; i < 6; i += 1) {
+ pthread_create(&workers[i], 0, update_i2c_input_cache, &nums[i]);
+ }
cache[0].s = 0;
cache[1].s = 0;
diff --git a/quad/src/virt_quad/hw_impl_unix_pwm_input.c b/quad/src/virt_quad/hw_impl_unix_pwm_input.c
index b487461095d1a900c16ea2f515454c650d197f3f..49bf19385f79053a50d58a47965bb81a0f7da6cf 100644
--- a/quad/src/virt_quad/hw_impl_unix_pwm_input.c
+++ b/quad/src/virt_quad/hw_impl_unix_pwm_input.c
@@ -10,7 +10,8 @@ void * update_input_cache();
static char *input_names[6];
static int fifos[6];
static unsigned long cache[6];
-pthread_t worker;
+static pthread_t workers[6];
+static int nums[] = {0, 1, 2, 3, 4, 5};
int unix_pwm_input_reset(struct PWMInputDriver *self) {
input_names[0] = "pwm-input-throttle";
@@ -25,7 +26,8 @@ int unix_pwm_input_reset(struct PWMInputDriver *self) {
// Start up worker thread whose job is to update the caches
int i;
for (i = 0; i < 6; i += 1) {
- pthread_create(&worker, 0, update_input_cache, &i);
+ pthread_create(&workers[i], 0, update_input_cache, &nums[i]);
+ usleep(1000);
}
cache[0] = THROTTLE_MIN;