Test update

common/include/dynarg.h

@@ -34,6 +34,7 @@
 
 struct _va_dyn {
 	unsigned char regs[176];
+	unsigned char overflow_area[256];
 	size_t overflow;
 	unsigned gp_offset;
 	unsigned fp_offset;
@@ -47,7 +48,7 @@ do {\
 	(list)[0].gp_offset = 8;\
 	(list)[0].fp_offset = 48;\
 	(list)[0].reg_save_area = vadyn->regs;\
-	(list)[0].overflow_arg_area = NULL;\
+	(list)[0].overflow_arg_area = vadyn->overflow_area;\
 	vadyn->overflow = 0;\
 	vadyn->gp_offset = 8;\
 	vadyn->fp_offset = 48;\
@@ -70,10 +71,15 @@ do {\
 /*		*(double *)&vadyn->regs[vadyn->fp_offset] = u.d;*/\
 		vadyn->fp_offset += sizeof(long double);\
 	} else { \
-		memcpy(&vadyn->regs[vadyn->gp_offset], &u.ul, sizeof(u.ul)); \
-/*		*(unsigned long *)&vadyn->regs[vadyn->gp_offset] = \
-		    (unsigned long)u.ul;*/\
-		vadyn->gp_offset += sizeof(unsigned long);\
+		if (vadyn->gp_offset < 48) { \
+			memcpy(&vadyn->regs[vadyn->gp_offset], &u.ul, sizeof(u.ul)); \
+/*			*(unsigned long *)&vadyn->regs[vadyn->gp_offset] = \
+			    (unsigned long)u.ul;*/\
+			vadyn->gp_offset += sizeof(unsigned long);\
+		} else { \
+			memcpy(&vadyn->overflow_area[vadyn->gp_offset], &u.ul, sizeof(u.ul)); \
+			vadyn->gp_offset += sizeof(unsigned long);\
+		} \
 	} \
 } while (0)
 

controller/block/block_command_bool.c

@@ -23,12 +23,12 @@
 #include <log/log.h>
 
 #include <controller/controller_block.h>
-//#include <controller/controller_sample.h>
 #include <controller/controller_command.h>
 
 
 struct controller_block_private {
 	bool value;
+	uint32_t id;
 
 	struct controller_command *command;
 };
@@ -40,12 +40,16 @@ static void command_calculate(struct controller_block *cmd)
 
 	if (!controller_command_queue_read(priv->command, &c_entry)) {
 		priv->value = c_entry.value.b;
+		priv->id = c_entry.id;
+	} else {
+		priv->id = COMMAND_ID_NONE;
 	}
 }
 
 
 static struct controller_block_outterm_list outterms[] = {
 	{ "value", CONTROLLER_BLOCK_TERM_BOOL,  offsetof(struct controller_block_private, value) },
+	{ "id",    CONTROLLER_BLOCK_TERM_UINT32, offsetof(struct controller_block_private, id) },
 	{ NULL },
 };
 
@@ -58,6 +62,7 @@ struct controller_block * block_command_bool_create(char *name)
 		return NULL;
 
 	cmd->private->value = false;
+	cmd->private->id = COMMAND_ID_NONE;
 
 	if (controller_block_outterm_list_init(cmd, outterms))
 		goto err_block;

controller/block/block_command_bool.test.ctrl

+frequency 10
+
+trigger {
+	{ "immediate" }
+}
+
+blocks {
+	{ "command_bool", "command_bool" }
+
+	{ "test_output_bool", "value"      }
+	{ "test_output_uint32", "id"      }
+
+	{ "test_command", "command" }
+}
+
+links {
+	{ "command_bool", "value", "value", "value", true }
+	{ "command_bool", "id",    "id", "value",    true }
+}
+
+set SETPOINT		4
+set SPEED		5
+set SETPOINT_TIME 	6
+
+set COMMAND_ID_NONE	(int)0xffffffff
+
+params {
+	{ "command", "command", "command_bool", $[SETPOINT_TIME], 123,   true, 0, 500000000 }
+	{ "command", "command", "command_bool", $[SETPOINT],      234,   true }
+	{ "command", "command", "command_bool", $[SETPOINT],      567,   false }
+	{ "command", "command", "command_bool", $[SETPOINT],      666,   true }
+	{ "command", "command", "command_bool", $[SETPOINT],      777,   false }
+	
+	{ "value", "value", 10,
+		(int) { false, true, true, false, true, false, false, false, false, false }
+	}
+
+	{ "id",   "value", 10, 
+		(int)   { $[COMMAND_ID_NONE], 123, 234, 567, 666, 777, $[COMMAND_ID_NONE], $[COMMAND_ID_NONE], $[COMMAND_ID_NONE], $[COMMAND_ID_NONE] }
+	}
+}

controller/block/block_setpoint_generator_1d.test.ctrl

@@ -58,7 +58,7 @@ params {
 	}
 	{ "x", "value", 20,
 		(float) { 50.0, 52.0, 54.0, 56.0, 58.0, 60.0, 58.0, 60.0, 61.0, 62.1,
-		         -94.0,-95.0,-97.0,-99.0,-100.0, -100.0, -100.0, -100.0, -100.0, -100.0},
+		         -94.0,-96.0,-98.0,-100.0,-100.0, -100.0, -100.0, -100.0, -100.0, -100.0},
 		(float) {  0.0,  0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ,
 		           0.0,  0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0   }
 	}
@@ -69,6 +69,6 @@ params {
 
 	{ "id",   "value", 20, 
 		(int)   { (int)0xffffffff, 123, 123, 123, 123, 123, 124, 125, 126, 200,
-		          (int)0xffffffff, 127, 201,(int)0xffffffff,(int)0xffffffff,(int)0xffffffff,(int)0xffffffff,(int)0xffffffff,(int)0xffffffff,(int)0xffffffff}
+		          (int)0xffffffff, 201,(int)0xffffffff,(int)0xffffffff,(int)0xffffffff,(int)0xffffffff,(int)0xffffffff,(int)0xffffffff,(int)0xffffffff,(int)0xffffffff}
 	}
 }

controller/block/block_setpoint_generator_3d.test.ctrl

@@ -90,6 +90,6 @@ params {
 
 	{ "id",   "value", 20, 
 		(int)   { (int)0xffffffff, 123, 123, 123, 123, 123, 124, 125, 126, 200,
-		          (int)0xffffffff, 127, 201,(int)0xffffffff,(int)0xffffffff,(int)0xffffffff,(int)0xffffffff,(int)0xffffffff,(int)0xffffffff,(int)0xffffffff}
+		          (int)0xffffffff, 201,(int)0xffffffff,(int)0xffffffff,(int)0xffffffff,(int)0xffffffff,(int)0xffffffff,(int)0xffffffff,(int)0xffffffff,(int)0xffffffff}
 	}
 }

controller/block/build.mk

@@ -80,6 +80,7 @@ CLEAN += $(BLOCK_TARGETS) $(BLOCK_OBJS)
 SRCS += $(BLOCK_SRCS)
 
 CTRL_TESTS += \
+	$(DIR)/block_command_bool.test.ctrl \
 	$(DIR)/block_gain.test.ctrl \
 	$(DIR)/block_limit.test.ctrl \
 	$(DIR)/block_matrix_2x2.test.ctrl \