--- /dev/null
+/**
+ * @file main.c
+ * @author sylvain.gaeremynck@parrot.com
+ * @date 2009/07/01
+ */
+#include <ardrone_testing_tool.h>
+
+//ARDroneLib
+#include <ardrone_tool/ardrone_time.h>
+#include <ardrone_tool/Navdata/ardrone_navdata_client.h>
+#include <ardrone_tool/Control/ardrone_control.h>
+#include <ardrone_tool/UI/ardrone_input.h>
+#include <ardrone_tool/ardrone_tool_configuration.h>
+
+//Common
+#include <config.h>
+#include <ardrone_api.h>
+
+//VP_SDK
+#include <ATcodec/ATcodec_api.h>
+#include <VP_Os/vp_os_print.h>
+#include <VP_Os/vp_os_thread.h>
+#include <VP_Api/vp_api_thread_helper.h>
+#include <VP_Os/vp_os_signal.h>
+#include <VP_Os/vp_os_types.h>
+#include <VP_Os/vp_os_delay.h>
+
+//Local project
+#include <UI/gamepad.h>
+#include <Video/video_stage.h>
+
+#include <utils/ardrone_ftp.h>
+
+#include <semaphore.h>
+
+static int32_t exit_ihm_program = 1;
+
+/* Implementing Custom methods for the main function of an ARDrone application */
+
+/* The delegate object calls this method during initialization of an ARDrone application */
+C_RESULT ardrone_tool_init_custom(int argc, char **argv)
+{
+ /* Start all threads of your application */
+ START_THREAD( main_application_thread , NULL );
+ return C_OK;
+}
+
+/* The delegate object calls this method when the event loop exit */
+C_RESULT ardrone_tool_shutdown_custom()
+{
+ /* Relinquish all threads of your application */
+ JOIN_THREAD( main_application_thread );
+
+ return C_OK;
+}
+
+/* The event loop calls this method for the exit condition */
+bool_t ardrone_tool_exit()
+{
+ return exit_ihm_program == 0;
+}
+
+C_RESULT signal_exit()
+{
+ exit_ihm_program = 0;
+
+ return C_OK;
+}
+
+PROTO_THREAD_ROUTINE(main_application_thread, data);
+
+/* Implementing thread table in which you add routines of your application and those provided by the SDK */
+BEGIN_THREAD_TABLE
+THREAD_TABLE_ENTRY( main_application_thread, 20 )
+END_THREAD_TABLE
+
+sem_t synchroSem;
+
+#define BLUE { printf("%s","\033[34;01m"); }
+#define RED { printf("%s","\033[31;01m"); }
+#define GREEN { printf("%s","\033[32;01m"); }
+#define RAZ { printf("%s","\033[0m"); }
+
+#define TEST_RESULT(result, formatFAIL, formatOK, ...) \
+ do \
+ { \
+ _ftp_status locResult = (result); \
+ totalOp++; \
+ if (FTP_FAILED (locResult)) \
+ { \
+ RED; \
+ printf ("[%i : KO] : ", __LINE__); \
+ printf (formatFAIL, __VA_ARGS__); \
+ printf ("\n"); \
+ RAZ; \
+ } \
+ else \
+ { \
+ GREEN; \
+ printf ("[%i : OK] : ", __LINE__); \
+ printf (formatOK, __VA_ARGS__); \
+ printf ("\n"); \
+ RAZ; \
+ opOk++; \
+ } \
+ if ((FTP_TIMEOUT == locResult) || \
+ (FTP_BUSY == locResult)) \
+ { \
+ runOperation = 1; \
+ } \
+ else \
+ { \
+ runOperation = 0; \
+ } \
+ } \
+ while (0)
+
+#define COMPUTE_PERCENT_OK \
+ do \
+ { \
+ if (totalOp> 0) \
+ { \
+ float percentOk = (100.0 * opOk) / (1.0 * totalOp); \
+ if (90.0 < percentOk) \
+ { \
+ GREEN; \
+ } \
+ else \
+ { \
+ RED; \
+ } \
+ printf ("Success of %llu operations on %llu (%6.2f %%)\n", opOk, totalOp, percentOk); \
+ RAZ; \
+ } \
+ } while (0)
+
+
+#define TEST_ABORTION(abortFunc) \
+ do \
+ { \
+ _ftp_status locStat = (abortFunc); \
+ totalOp++; \
+ switch (locStat) \
+ { \
+ case FTP_SUCCESS: \
+ GREEN; \
+ printf ("[%i : OK] : ", __LINE__); \
+ printf ("Abortion successfull\n"); \
+ RAZ; \
+ opOk++; \
+ break; \
+ case FTP_SAMESIZE: \
+ RED; \
+ printf ("[%i : KO] : ", __LINE__); \
+ printf ("Abortion failed, op was not running\n"); \
+ RAZ; \
+ break; \
+ case FTP_FAIL: \
+ default: \
+ RED; \
+ printf ("[%i : KO] : ", __LINE__); \
+ printf ("Unknown result\n"); \
+ RAZ; \
+ break; \
+ } \
+ } while (0) \
+
+#define WAIT_COND(result) \
+ do \
+ { \
+ sem_wait (&synchroSem); \
+ } while (0)
+
+
+#define SEND_COND \
+ do \
+ { \
+ sem_post (&synchroSem); \
+ } \
+ while (0)
+
+_ftp_status globalStatus;
+int runOperation = 1;
+char *listBuffer = NULL;
+
+void
+ftpCallback (_ftp_status status, void *arg, _ftp_t *callingFtp)
+{
+ float percent = (NULL != arg) ? *(float *)arg : -1.0;
+ if (NULL != arg && FTP_SUCCESS == status) { listBuffer = arg; }
+ globalStatus = status;
+ static int calls = 0;
+#define CALLBACK_FORMAT "Callback called with status %s\n"
+#ifdef DEBUG
+#define PRINT_CALLBACK_FORMAT(statusString) { printf (CALLBACK_FORMAT, statusString); calls++; }
+#else
+#define PRINT_CALLBACK_FORMAT(statusString) { calls++; }
+#endif
+ switch (status)
+ {
+ case FTP_BUSY:
+ PRINT_CALLBACK_FORMAT ("FTP_BUSY");
+ SEND_COND;
+ break;
+ case FTP_ABORT:
+ PRINT_CALLBACK_FORMAT ("FTP_ABORT");
+ SEND_COND;
+ break;
+ case FTP_FAIL:
+ PRINT_CALLBACK_FORMAT ("FTP_FAIL");
+ SEND_COND;
+ break;
+ case FTP_SUCCESS:
+ PRINT_CALLBACK_FORMAT ("FTP_SUCCESS");
+ SEND_COND;
+ break;
+ case FTP_TIMEOUT:
+ PRINT_CALLBACK_FORMAT ("FTP_TIMEOUT");
+ SEND_COND;
+ break;
+ case FTP_BADSIZE:
+ PRINT_CALLBACK_FORMAT ("FTP_BADSIZE");
+ SEND_COND;
+ break;
+ case FTP_SAMESIZE:
+ PRINT_CALLBACK_FORMAT ("FTP_SAMESIZE");
+ SEND_COND;
+ break;
+ case FTP_PROGRESS:
+ printf ("\rProgress : %5.2f", percent);
+ fflush (stdout);
+ if (100.0 <= percent)
+ {
+ printf ("\n");
+ }
+ break;
+ default: // Should not happen ... kill the program in this case !
+ printf ("Callback called with unknown status : %d\n", status);
+ exit (-1);
+ break;
+ }
+#undef CALLBACK_FORMAT
+}
+
+#define title(x) { BLUE; printf("[%i] %s",__LINE__,x); RAZ; }
+
+#define _USE_EMENCIA_SERVER (0)
+#if _USE_EMENCIA_SERVER
+#define ARDRONE_IP "parrot02.nyx.emencia.net"
+#define ARDRONE_PORT (21)
+#define ARDRONE_USER "parrot"
+#define ARDRONE_PASSWORD "parrot"
+#else
+#define ARDRONE_IP "192.168.1.1"
+#define ARDRONE_PORT (21)
+#define ARDRONE_USER "anonymous"
+#define ARDRONE_PASSWORD ""
+#endif
+
+#define _1MB_ORIGIN_FILE "origin.txt"
+#define _512K_FAILED_FILE "half_file.txt"
+#define _256K_FAILED_FILE "quarter_file.txt"
+#define _1MB_MERGED_FILE "merged.txt"
+#define LOCAL_RESULT_FILE "result.txt"
+
+#define NOCB_NORESUME_RESULT "result_nocb_noresume.txt"
+#define CB_NORESUME_RESULT "result_cb_noresume.txt"
+#define NOCB_RESUME_RESULT "result_nocb_resume.txt"
+#define CB_RESUME_RESULT "result_cb_resume.txt"
+
+#define ARDRONE_FILE_BEFORE_RENAME "origin.txt"
+#define ARDRONE_FILE_AFTER_RENAME "result.txt"
+
+DEFINE_THREAD_ROUTINE(main_application_thread, data)
+{
+
+ /* Semaphore for synchronisation */
+ sem_init (&synchroSem, 0, 0);
+
+ vp_os_delay(1000);
+
+ char buffer [512] = {0};
+ int systemRet = 0;
+
+ _ftp_t *droneFtp = NULL;
+ _ftp_status ftp_result = FTP_FAIL;
+
+ int runOperation = 1;
+
+ uint64_t totalOp = 0;
+ uint64_t opOk = 0;
+
+
+ title ("\n\n------ CLEANING ------\n\n");
+
+ title ("--- Connecting to AR.Drone FTP ---\n");
+
+ for (runOperation = 1; runOperation;)
+ {
+ droneFtp = ftpConnect (ARDRONE_IP, ARDRONE_PORT, ARDRONE_USER, ARDRONE_PASSWORD, &ftp_result);
+ TEST_RESULT (ftp_result, "Unable to connect to %s@%s:%d (PASS : %s)", "Connected to %s@%s:%d (PASS : %s)", ARDRONE_USER, ARDRONE_IP, ARDRONE_PORT, ARDRONE_PASSWORD);
+ }
+
+ title ("--- Getting PWD ---\n");
+
+ char pwd [256] = {0};
+ ftp_result = ftpPwd (droneFtp, pwd, 256);
+ TEST_RESULT (ftp_result, "Unable to get PWD [%1s]", "Got PWD : %s", pwd);
+
+ title ("--- Removing previous file on AR.Drone ---\n");
+
+ for (runOperation = 1; runOperation;)
+ {
+ ftp_result = ftpRemove (droneFtp, ARDRONE_FILE_BEFORE_RENAME);
+ TEST_RESULT (ftp_result, " (STILL OK !) file %s does not exist", "Deleted file %s", ARDRONE_FILE_BEFORE_RENAME);
+ }
+
+ for (runOperation = 1; runOperation;)
+ {
+ ftp_result = ftpRemove (droneFtp, ARDRONE_FILE_AFTER_RENAME);
+ TEST_RESULT (ftp_result, " (STILL OK !) file %s does not exist", "Deleted file %s", ARDRONE_FILE_AFTER_RENAME);
+ }
+
+ title ("--- Removing local result file ---\n");
+
+ vp_os_memset (buffer, 0x0, 512);
+ snprintf (buffer, 512, "rm -f %s", LOCAL_RESULT_FILE);
+ systemRet = system (buffer);
+ printf ("System : %s\n", buffer);
+
+ title ("--- Disconnecting from AR.Drone FTP ---\n");
+
+ TEST_RESULT (ftpClose (&droneFtp), "AR.Drone FTP (%s:%d) was not opened", "Closed AR.Drone FTP (%s:%d)", ARDRONE_IP, ARDRONE_PORT);
+
+ while (1)
+ {
+
+ title ("\n\n------ TESTS WITHOUT RESUME NOR CALLBACK ------\n\n");
+
+ title ("--- Connecting to AR.Drone FTP ---\n");
+
+ for (runOperation = 1; runOperation;)
+ {
+ droneFtp = ftpConnect (ARDRONE_IP, ARDRONE_PORT, ARDRONE_USER, ARDRONE_PASSWORD, &ftp_result);
+ TEST_RESULT (ftp_result, "Unable to connect to %s@%s:%d (PASS : %s)", "Connected to %s@%s:%d (PASS : %s)", ARDRONE_USER, ARDRONE_IP, ARDRONE_PORT, ARDRONE_PASSWORD);
+ }
+
+ title ("--- Sending origin file to the AR.Drone ---\n");
+
+ for (runOperation = 1; runOperation;)
+ {
+ ftp_result = ftpPut (droneFtp, _1MB_ORIGIN_FILE, ARDRONE_FILE_BEFORE_RENAME, 0, NULL);
+ TEST_RESULT (ftp_result, "Unable to send file %s->%s", "Sent file %s->%s", _1MB_ORIGIN_FILE, ARDRONE_FILE_BEFORE_RENAME);
+ }
+
+ title ("--- Renaming file on the AR.Drone ---\n");
+
+ for (runOperation = 1; runOperation;)
+ {
+ ftp_result = ftpRename (droneFtp, ARDRONE_FILE_BEFORE_RENAME, ARDRONE_FILE_AFTER_RENAME);
+ TEST_RESULT (ftp_result, "Impossible to rename %s->%s", "Renamed %s->%s", ARDRONE_FILE_BEFORE_RENAME, ARDRONE_FILE_AFTER_RENAME);
+ }
+
+ title ("--- Getting AR.Drone FTP Listing ---\n");
+
+ for (runOperation = 1; runOperation;)
+ {
+ ftp_result = ftpList (droneFtp, &listBuffer, NULL);
+ TEST_RESULT (ftp_result, "Unable to list FTP [%1s]", "Listed FTP :\n%s", listBuffer);
+ if (NULL != listBuffer) { vp_os_free (listBuffer); listBuffer = NULL; }
+ }
+
+ title ("--- Getting back result file ---\n");
+
+ for (runOperation = 1; runOperation;)
+ {
+ ftp_result = ftpGet (droneFtp, ARDRONE_FILE_AFTER_RENAME, LOCAL_RESULT_FILE, 0, NULL);
+ TEST_RESULT (ftp_result, "Unable to get file %s->%s", "Got back file %s->%s", ARDRONE_FILE_AFTER_RENAME, LOCAL_RESULT_FILE);
+ }
+
+ title ("--- Checking file ---\n");
+
+ vp_os_memset (buffer, 0x0, 512);
+ snprintf (buffer, 512, "diff %s %s > /dev/null", LOCAL_RESULT_FILE, _1MB_ORIGIN_FILE);
+ systemRet = system (buffer);
+ printf ("System : %s\n", buffer);
+ totalOp++;
+ if (0 != systemRet)
+ {
+ RED; printf ("[%d : KO] : Files are different !\n", __LINE__); RAZ;
+ }
+ else
+ {
+ opOk++;
+ GREEN; printf ("[%d : OK] : Files are the same\n", __LINE__); RAZ;
+ }
+
+ title ("--- Removing file on AR.Drone ---\n");
+
+ for (runOperation = 1; runOperation;)
+ {
+ ftp_result = ftpRemove (droneFtp, ARDRONE_FILE_AFTER_RENAME);
+ TEST_RESULT (ftp_result, "Unable to delete file %s", "Deleted file %s", ARDRONE_FILE_AFTER_RENAME);
+ }
+
+ title ("--- Local file backup ---\n");
+
+ vp_os_memset (buffer, 0x0, 512);
+ snprintf (buffer, 512, "mv %s %s", LOCAL_RESULT_FILE, NOCB_NORESUME_RESULT);
+ systemRet = system (buffer);
+ printf ("System : %s\n", buffer);
+
+ title ("--- Closing AR.Drone FTP ---\n");
+
+ TEST_RESULT (ftpClose (&droneFtp), "AR.Drone FTP (%s:%d) was not opened", "Closed AR.Drone FTP (%s:%d)", ARDRONE_IP, ARDRONE_PORT);
+
+
+
+
+
+
+
+
+ title ("\n\n------ TESTS WITHOUT RESUME / WITH CALLBACK ------\n\n");
+
+ title ("--- Connecting to AR.Drone FTP ---\n");
+
+ for (runOperation = 1; runOperation;)
+ {
+ droneFtp = ftpConnect (ARDRONE_IP, ARDRONE_PORT, ARDRONE_USER, ARDRONE_PASSWORD, &ftp_result);
+ TEST_RESULT (ftp_result, "Unable to connect to %s@%s:%d (PASS : %s)", "Connected to %s@%s:%d (PASS : %s)", ARDRONE_USER, ARDRONE_IP, ARDRONE_PORT, ARDRONE_PASSWORD);
+ }
+
+ title ("--- Sending origin file to the AR.Drone ---\n");
+
+
+ for (runOperation = 1; runOperation;)
+ {
+ ftp_result = ftpPut (droneFtp, _1MB_ORIGIN_FILE, ARDRONE_FILE_BEFORE_RENAME, 0, ftpCallback);
+ WAIT_COND (ftp_result);
+ TEST_RESULT (globalStatus, "Unable to send file %s->%s", "Sent file %s->%s", _1MB_ORIGIN_FILE, ARDRONE_FILE_BEFORE_RENAME);
+ }
+
+ title ("--- Renaming file on the AR.Drone ---\n");
+
+ ftp_result = ftpRename (droneFtp, ARDRONE_FILE_BEFORE_RENAME, ARDRONE_FILE_AFTER_RENAME);
+ TEST_RESULT (ftp_result, "Impossible to rename %s->%s", "Renamed %s->%s", ARDRONE_FILE_BEFORE_RENAME, ARDRONE_FILE_AFTER_RENAME);
+
+ title ("--- Getting AR.Drone FTP Listing ---\n");
+
+ for (runOperation = 1; runOperation;)
+ {
+ ftp_result = ftpList (droneFtp, NULL, ftpCallback);
+ WAIT_COND (ftp_result);
+ TEST_RESULT (globalStatus, "Unable to list FTP [%1s]", "Listed FTP :\n%s", listBuffer);
+ if (NULL != listBuffer) { vp_os_free (listBuffer); listBuffer = NULL; }
+ }
+
+ title ("--- Getting back result file ---\n");
+
+ for (runOperation = 1; runOperation;)
+ {
+ ftp_result = ftpGet (droneFtp, ARDRONE_FILE_AFTER_RENAME, LOCAL_RESULT_FILE, 0, ftpCallback);
+ WAIT_COND (ftp_result);
+ TEST_RESULT (globalStatus, "Unable to get file %s->%s", "Got back file %s->%s", ARDRONE_FILE_AFTER_RENAME, LOCAL_RESULT_FILE);
+ }
+
+ title ("--- Checking file ---\n");
+
+ vp_os_memset (buffer, 0x0, 512);
+ snprintf (buffer, 512, "diff %s %s > /dev/null", LOCAL_RESULT_FILE, _1MB_ORIGIN_FILE);
+ systemRet = system (buffer);
+ printf ("System : %s\n", buffer);
+ totalOp++;
+ if (0 != systemRet)
+ {
+ RED; printf ("[%d : KO] : Files are different !\n", __LINE__); RAZ;
+ }
+ else
+ {
+ opOk++;
+ GREEN; printf ("[%d : OK] : Files are the same\n", __LINE__); RAZ;
+ }
+
+ title ("--- Removing file on AR.Drone ---\n");
+
+ for (runOperation = 1; runOperation;)
+ {
+ ftp_result = ftpRemove (droneFtp, ARDRONE_FILE_AFTER_RENAME);
+ TEST_RESULT (ftp_result, "Unable to delete file %s", "Deleted file %s", ARDRONE_FILE_AFTER_RENAME);
+ }
+
+ title ("--- Local file backup ---\n");
+
+ vp_os_memset (buffer, 0x0, 512);
+ snprintf (buffer, 512, "mv %s %s", LOCAL_RESULT_FILE, CB_NORESUME_RESULT);
+ systemRet = system (buffer);
+ printf ("System : %s\n", buffer);
+
+ title ("--- Closing AR.Drone FTP ---\n");
+
+ TEST_RESULT (ftpClose (&droneFtp), "AR.Drone FTP (%s:%d) was not opened", "Closed AR.Drone FTP (%s:%d)", ARDRONE_IP, ARDRONE_PORT);
+
+
+
+
+
+
+ title ("\n\n------ TESTS WITH RESUME / NO CALLBACK ------\n\n");
+
+ title ("--- Preparing bad file (256K) locally ---\n");
+
+ vp_os_memset (buffer, 0x0, 512);
+ snprintf (buffer, 512, "cp %s %s", _256K_FAILED_FILE, LOCAL_RESULT_FILE);
+ systemRet = system (buffer);
+ printf ("System : %s\n", buffer);
+
+ title ("--- Connecting to AR.Drone FTP ---\n");
+
+ for (runOperation = 1; runOperation;)
+ {
+ droneFtp = ftpConnect (ARDRONE_IP, ARDRONE_PORT, ARDRONE_USER, ARDRONE_PASSWORD, &ftp_result);
+ TEST_RESULT (ftp_result, "Unable to connect to %s@%s:%d (PASS : %s)", "Connected to %s@%s:%d (PASS : %s)", ARDRONE_USER, ARDRONE_IP, ARDRONE_PORT, ARDRONE_PASSWORD);
+ }
+
+ title ("--- Preparing bad file (512K) on AR.Drone FTP ---\n");
+
+ for (runOperation = 1; runOperation;)
+ {
+ ftp_result = ftpPut (droneFtp, _512K_FAILED_FILE, ARDRONE_FILE_BEFORE_RENAME, 1, NULL);
+ TEST_RESULT (ftp_result, "Unable to send partial file %s->%s", "Sent partial file %s->%s", _512K_FAILED_FILE, ARDRONE_FILE_BEFORE_RENAME);
+ }
+
+ title ("--- Sending origin file to the AR.Drone ---\n");
+
+ for (runOperation = 1; runOperation;)
+ {
+ ftp_result = ftpPut (droneFtp, _1MB_ORIGIN_FILE, ARDRONE_FILE_BEFORE_RENAME, 1, NULL);
+ TEST_RESULT (ftp_result, "Unable to send file %s->%s", "Sent file %s->%s", _1MB_ORIGIN_FILE, ARDRONE_FILE_BEFORE_RENAME);
+ }
+
+ title ("--- Renaming file on the AR.Drone ---\n");
+
+ for (runOperation = 1; runOperation;)
+ {
+ ftp_result = ftpRename (droneFtp, ARDRONE_FILE_BEFORE_RENAME, ARDRONE_FILE_AFTER_RENAME);
+ TEST_RESULT (ftp_result, "Impossible to rename %s->%s", "Renamed %s->%s", ARDRONE_FILE_BEFORE_RENAME, ARDRONE_FILE_AFTER_RENAME);
+ }
+
+ title ("--- Getting AR.Drone FTP Listing ---\n");
+
+ for (runOperation = 1; runOperation;)
+ {
+ ftp_result = ftpList (droneFtp, &listBuffer, NULL);
+ TEST_RESULT (ftp_result, "Unable to list FTP [%1s]", "Listed FTP :\n%s", listBuffer);
+ if (NULL != listBuffer) { vp_os_free (listBuffer); listBuffer = NULL; }
+ }
+
+ title ("--- Getting back result file ---\n");
+
+ for (runOperation = 1; runOperation;)
+ {
+ ftp_result = ftpGet (droneFtp, ARDRONE_FILE_AFTER_RENAME, LOCAL_RESULT_FILE, 1, NULL);
+ TEST_RESULT (ftp_result, "Unable to get file %s->%s", "Got back file %s->%s", ARDRONE_FILE_AFTER_RENAME, LOCAL_RESULT_FILE);
+ }
+
+ title ("--- Checking file ---\n");
+
+ vp_os_memset (buffer, 0x0, 512);
+ snprintf (buffer, 512, "diff %s %s > /dev/null", LOCAL_RESULT_FILE, _1MB_MERGED_FILE);
+ systemRet = system (buffer);
+ printf ("System : %s\n", buffer);
+ totalOp++;
+ if (0 != systemRet)
+ {
+ RED; printf ("[%d : KO] : Files are different !\n", __LINE__); RAZ;
+ }
+ else
+ {
+ opOk++;
+ GREEN; printf ("[%d : OK] : Files are the same\n", __LINE__); RAZ;
+ }
+
+ title ("--- Removing file on AR.Drone ---\n");
+
+ for (runOperation = 1; runOperation;)
+ {
+ ftp_result = ftpRemove (droneFtp, ARDRONE_FILE_AFTER_RENAME);
+ TEST_RESULT (ftp_result, "Unable to delete file %s", "Deleted file %s", ARDRONE_FILE_AFTER_RENAME);
+ }
+
+ title ("--- Local file backup ---\n");
+
+ vp_os_memset (buffer, 0x0, 512);
+ snprintf (buffer, 512, "mv %s %s", LOCAL_RESULT_FILE, NOCB_RESUME_RESULT);
+ systemRet = system (buffer);
+ printf ("System : %s\n", buffer);
+
+ title ("--- Closing AR.Drone FTP ---\n");
+
+ TEST_RESULT (ftpClose (&droneFtp), "AR.Drone FTP (%s:%d) was not opened", "Closed AR.Drone FTP (%s:%d)", ARDRONE_IP, ARDRONE_PORT);
+
+
+
+
+
+
+
+
+
+
+
+
+ title ("\n\n------ TESTS WITH RESUME AND CALLBACK ------\n\n");
+
+ title ("--- Preparing bad file (256K) locally ---\n");
+
+ vp_os_memset (buffer, 0x0, 512);
+ snprintf (buffer, 512, "cp %s %s", _256K_FAILED_FILE, LOCAL_RESULT_FILE);
+ systemRet = system (buffer);
+ printf ("System : %s\n", buffer);
+
+ title ("--- Connecting to AR.Drone FTP ---\n");
+
+ for (runOperation = 1; runOperation;)
+ {
+ droneFtp = ftpConnect (ARDRONE_IP, ARDRONE_PORT, ARDRONE_USER, ARDRONE_PASSWORD, &ftp_result);
+ TEST_RESULT (ftp_result, "Unable to connect to %s@%s:%d (PASS : %s)", "Connected to %s@%s:%d (PASS : %s)", ARDRONE_USER, ARDRONE_IP, ARDRONE_PORT, ARDRONE_PASSWORD);
+ }
+
+ title ("--- Preparing bad file (512K) on AR.Drone FTP ---\n");
+
+ for (runOperation = 1; runOperation;)
+ {
+ ftp_result = ftpPut (droneFtp, _512K_FAILED_FILE, ARDRONE_FILE_BEFORE_RENAME, 1, ftpCallback);
+ WAIT_COND (ftp_result);
+ TEST_RESULT (globalStatus, "Unable to send partial file %s->%s", "Sent partial file %s->%s", _512K_FAILED_FILE, ARDRONE_FILE_BEFORE_RENAME);
+ }
+
+ title ("--- Sending origin file to the AR.Drone ---\n");
+
+ for (runOperation = 1; runOperation;)
+ {
+ ftp_result = ftpPut (droneFtp, _1MB_ORIGIN_FILE, ARDRONE_FILE_BEFORE_RENAME, 1, ftpCallback);
+ WAIT_COND (ftp_result);
+ TEST_RESULT (globalStatus, "Unable to send file %s->%s", "Sent file %s->%s", _1MB_ORIGIN_FILE, ARDRONE_FILE_BEFORE_RENAME);
+ }
+
+ title ("--- Renaming file on the AR.Drone ---\n");
+
+ for (runOperation = 1; runOperation;)
+ {
+ ftp_result = ftpRename (droneFtp, ARDRONE_FILE_BEFORE_RENAME, ARDRONE_FILE_AFTER_RENAME);
+ TEST_RESULT (ftp_result, "Impossible to rename %s->%s", "Renamed %s->%s", ARDRONE_FILE_BEFORE_RENAME, ARDRONE_FILE_AFTER_RENAME);
+ }
+
+ title ("--- Getting AR.Drone FTP Listing ---\n");
+
+ for (runOperation = 1; runOperation;)
+ {
+ ftp_result = ftpList (droneFtp, NULL, ftpCallback);
+ WAIT_COND (ftp_result);
+ TEST_RESULT (globalStatus, "Unable to list FTP [%1s]", "Listed FTP :\n%s", listBuffer);
+ if (NULL != listBuffer) { vp_os_free (listBuffer); listBuffer = NULL; }
+ }
+
+ title ("--- Getting back result file ---\n");
+
+ for (runOperation = 1; runOperation;)
+ {
+ ftp_result = ftpGet (droneFtp, ARDRONE_FILE_AFTER_RENAME, LOCAL_RESULT_FILE, 1, ftpCallback);
+ WAIT_COND (ftp_result);
+ TEST_RESULT (globalStatus, "Unable to get file %s->%s", "Got back file %s->%s", ARDRONE_FILE_AFTER_RENAME, LOCAL_RESULT_FILE);
+ }
+
+ title ("--- Checking file ---\n");
+
+ vp_os_memset (buffer, 0x0, 512);
+ snprintf (buffer, 512, "diff %s %s > /dev/null", LOCAL_RESULT_FILE, _1MB_MERGED_FILE);
+ systemRet = system (buffer);
+ printf ("System : %s\n", buffer);
+ totalOp++;
+ if (0 != systemRet)
+ {
+ RED; printf ("[%d : KO] : Files are different !\n", __LINE__); RAZ;
+ }
+ else
+ {
+ opOk++;
+ GREEN; printf ("[%d : OK] : Files are the same\n", __LINE__); RAZ;
+ }
+
+ title ("--- Removing file on AR.Drone ---\n");
+
+ for (runOperation = 1; runOperation;)
+ {
+ ftp_result = ftpRemove (droneFtp, ARDRONE_FILE_AFTER_RENAME);
+ TEST_RESULT (ftp_result, "Unable to delete file %s", "Deleted file %s", ARDRONE_FILE_AFTER_RENAME);
+ }
+
+ title ("--- Local file backup ---\n");
+
+ vp_os_memset (buffer, 0x0, 512);
+ snprintf (buffer, 512, "mv %s %s", LOCAL_RESULT_FILE, CB_RESUME_RESULT);
+ systemRet = system (buffer);
+ printf ("System : %s\n", buffer);
+
+ title ("--- Closing AR.Drone FTP ---\n");
+
+ TEST_RESULT (ftpClose (&droneFtp), "AR.Drone FTP (%s:%d) was not opened", "Closed AR.Drone FTP (%s:%d)", ARDRONE_IP, ARDRONE_PORT);
+
+
+
+
+
+
+
+
+ title ("\n\n------ ABORTION TESTS ------\n\n");
+
+
+ title ("--- Connecting to AR.Drone FTP ---\n");
+
+ for (runOperation = 1; runOperation;)
+ {
+ droneFtp = ftpConnect (ARDRONE_IP, ARDRONE_PORT, ARDRONE_USER, ARDRONE_PASSWORD, &ftp_result);
+ TEST_RESULT (ftp_result, "Unable to connect to %s@%s:%d (PASS : %s)", "Connected to %s@%s:%d (PASS : %s)", ARDRONE_USER, ARDRONE_IP, ARDRONE_PORT, ARDRONE_PASSWORD);
+ }
+
+ title ("--- Sending origin file to the AR.Drone ... aborted ---\n");
+
+ for (runOperation = 1; runOperation;)
+ {
+ ftp_result = ftpPut (droneFtp, _1MB_ORIGIN_FILE, ARDRONE_FILE_BEFORE_RENAME, 1, ftpCallback);
+ usleep (500000);
+ TEST_ABORTION (ftpAbort (droneFtp));
+ WAIT_COND (ftp_result);
+ TEST_RESULT ((FTP_ABORT == globalStatus) ? FTP_SUCCESS : FTP_FAIL, "Impossible to abort %s->%s transfert", "Aborted %s->%s transfert", _1MB_ORIGIN_FILE, ARDRONE_FILE_BEFORE_RENAME);
+ }
+
+ title ("--- Sending origin file to the AR.Drone ... complete previous operation ---\n");
+
+ for (runOperation = 1; runOperation;)
+ {
+ ftp_result = ftpPut (droneFtp, _1MB_ORIGIN_FILE, ARDRONE_FILE_BEFORE_RENAME, 1, ftpCallback);
+ WAIT_COND (ftp_result);
+ TEST_RESULT (globalStatus, "Unable to send file %s->%s", "Sent file %s->%s", _1MB_ORIGIN_FILE, ARDRONE_FILE_BEFORE_RENAME);
+ }
+
+ title ("--- Getting AR.Drone FTP Listing ... aborted ---\n");
+
+ for (runOperation = 1; runOperation;)
+ {
+ ftp_result = ftpList (droneFtp, NULL, ftpCallback);
+ usleep (1000);
+ TEST_ABORTION (ftpAbort (droneFtp));
+ WAIT_COND (ftp_result);
+ TEST_RESULT ((FTP_ABORT == globalStatus) ? FTP_SUCCESS : FTP_FAIL, "Impossible to abort %s", "Aborted %s", "listing");
+ if (NULL != listBuffer) { vp_os_free (listBuffer); listBuffer = NULL; }
+ }
+
+ title ("--- Getting AR.Drone FTP Listing ... ok ---\n");
+
+ for (runOperation = 1; runOperation;)
+ {
+ ftp_result = ftpList (droneFtp, NULL, ftpCallback);
+ WAIT_COND (ftp_result);
+ TEST_RESULT (globalStatus, "Unable to list FTP [%1s]", "Listed FTP :\n%s", listBuffer);
+ if (NULL != listBuffer) { vp_os_free (listBuffer); listBuffer = NULL; }
+ }
+
+ title ("--- Getting back origin file as result ... aborted ---\n");
+
+ for (runOperation = 1; runOperation;)
+ {
+ ftp_result = ftpGet (droneFtp, ARDRONE_FILE_BEFORE_RENAME, LOCAL_RESULT_FILE, 1, ftpCallback);
+ usleep (500000);
+ TEST_ABORTION (ftpAbort (droneFtp));
+ WAIT_COND (ftp_result);
+ TEST_RESULT ((FTP_ABORT == globalStatus) ? FTP_SUCCESS : FTP_FAIL, "Impossible to abort %s->%s transfert", "Aborted %s->%s transfert", ARDRONE_FILE_BEFORE_RENAME, LOCAL_RESULT_FILE);
+ }
+
+ title ("--- Getting back origin file as result ... complete previous operation ---\n");
+
+ for (runOperation = 1; runOperation;)
+ {
+ ftp_result = ftpGet (droneFtp, ARDRONE_FILE_BEFORE_RENAME, LOCAL_RESULT_FILE, 1, ftpCallback);
+ WAIT_COND (ftp_result);
+ TEST_RESULT (globalStatus, "Unable to get file %s->%s", "Got back file %s->%s", ARDRONE_FILE_BEFORE_RENAME, LOCAL_RESULT_FILE);
+ }
+
+ title ("--- Checking file ---\n");
+
+ vp_os_memset (buffer, 0x0, 512);
+ snprintf (buffer, 512, "diff %s %s > /dev/null", LOCAL_RESULT_FILE, _1MB_ORIGIN_FILE);
+ systemRet = system (buffer);
+ printf ("System : %s\n", buffer);
+ totalOp++;
+ if (0 != systemRet)
+ {
+ RED; printf ("[%d : KO] : Files are different !\n", __LINE__); RAZ;
+ }
+ else
+ {
+ opOk++;
+ GREEN; printf ("[%d : OK] : Files are the same\n", __LINE__); RAZ;
+ }
+
+ title ("--- Removing file on AR.Drone ---\n");
+
+ for (runOperation = 1; runOperation;)
+ {
+ ftp_result = ftpRemove (droneFtp, ARDRONE_FILE_BEFORE_RENAME);
+ TEST_RESULT (ftp_result, "Unable to delete file %s", "Deleted file %s", ARDRONE_FILE_BEFORE_RENAME);
+ }
+
+ title ("--- Closing AR.Drone FTP ---\n");
+
+ TEST_RESULT (ftpClose (&droneFtp), "AR.Drone FTP (%s:%d) was not opened", "Closed AR.Drone FTP (%s:%d)", ARDRONE_IP, ARDRONE_PORT);
+
+
+
+
+
+
+
+ title ("\n\n------ RESULT ------\n\n");
+
+ COMPUTE_PERCENT_OK;
+ }
+
+ sem_destroy (&synchroSem);
+
+ exit (0);
+ return 0;
+}
projects / mardrone / blobdiff