From 103af72859f33a3f942c77dbed632273a5b2588c Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Mon, 25 Feb 2019 16:13:47 +1100
Subject: [PATCH] AP_InertialSensor: remove more px4 remnants

---
 .../examples/VibTest/VibTest.cpp              | 206 ------------------
 .../examples/VibTest/wscript                  |   9 -
 2 files changed, 215 deletions(-)
 delete mode 100644 libraries/AP_InertialSensor/examples/VibTest/VibTest.cpp
 delete mode 100644 libraries/AP_InertialSensor/examples/VibTest/wscript

diff --git a/libraries/AP_InertialSensor/examples/VibTest/VibTest.cpp b/libraries/AP_InertialSensor/examples/VibTest/VibTest.cpp
deleted file mode 100644
index 5ca43c534a..0000000000
--- a/libraries/AP_InertialSensor/examples/VibTest/VibTest.cpp
+++ /dev/null
@@ -1,206 +0,0 @@
-//
-// test harness for vibration testing
-//
-
-#include <stdarg.h>
-#include <AP_Common/AP_Common.h>
-#include <AP_HAL/AP_HAL.h>
-#include <AP_Math/AP_Math.h>
-#include <AP_Param/AP_Param.h>
-#include <AP_InertialSensor/AP_InertialSensor.h>
-#include <AP_Notify/AP_Notify.h>
-#include <AP_GPS/AP_GPS.h>
-#include <AP_Baro/AP_Baro.h>
-#include <Filter/Filter.h>
-#include <AP_Logger/AP_Logger.h>
-#include <GCS_MAVLink/GCS_MAVLink.h>
-#include <AP_Mission/AP_Mission.h>
-#include <StorageManager/StorageManager.h>
-#include <AP_Terrain/AP_Terrain.h>
-#include <AP_AHRS/AP_AHRS.h>
-#include <AP_Airspeed/AP_Airspeed.h>
-#include <AP_Vehicle/AP_Vehicle.h>
-#include <AP_Compass/AP_Compass.h>
-#include <AP_Scheduler/AP_Scheduler.h>
-#include <AP_Declination/AP_Declination.h>
-#include <AP_Notify/AP_Notify.h>
-#include <AP_BattMonitor/AP_BattMonitor.h>
-#include <AP_RangeFinder/AP_RangeFinder.h>
-
-#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
-
-#include <drivers/drv_accel.h>
-#include <drivers/drv_hrt.h>
-
-#include <sys/types.h>
-#include <sys/stat.h>
-#include <fcntl.h>
-#include <unistd.h>
-#include <stdio.h>
-
-const AP_HAL::HAL& hal = AP_HAL::get_HAL();
-
-static int accel_fd[INS_MAX_INSTANCES];
-static int gyro_fd[INS_MAX_INSTANCES];
-static uint32_t total_samples[INS_MAX_INSTANCES];
-static uint64_t last_accel_timestamp[INS_MAX_INSTANCES];
-static uint64_t last_gyro_timestamp[INS_MAX_INSTANCES];
-static uint32_t accel_deltat_min[INS_MAX_INSTANCES];
-static uint32_t accel_deltat_max[INS_MAX_INSTANCES];
-static uint32_t gyro_deltat_min[INS_MAX_INSTANCES];
-static uint32_t gyro_deltat_max[INS_MAX_INSTANCES];
-static AP_Logger_File AP_Logger("/fs/microsd/VIBTEST");
-
-static const struct LogStructure log_structure[] = {
-    LOG_COMMON_STRUCTURES,
-    LOG_EXTRA_STRUCTURES
-};
-
-void setup(void)
-{
-    for (uint8_t i=0; i<INS_MAX_INSTANCES; i++) {
-        char accel_path[] = ACCEL_BASE_DEVICE_PATH "n";
-        char gyro_path[] = GYRO_BASE_DEVICE_PATH "n";
-        accel_path[strlen(accel_path)-1] = '0'+i;
-        gyro_path[strlen(gyro_path)-1] = '0'+i;
-        accel_fd[i] = open(accel_path, O_RDONLY|O_CLOEXEC);
-        gyro_fd[i] = open(gyro_path, O_RDONLY|O_CLOEXEC);
-    }
-    if (accel_fd[0] == -1 || gyro_fd[0] == -1) {
-        AP_HAL::panic("Failed to open accel/gyro 0");
-    }
-
-    ioctl(gyro_fd[0], SENSORIOCSPOLLRATE, 1000);
-    ioctl(gyro_fd[0], GYROIOCSLOWPASS, 0);
-    ioctl(gyro_fd[0], GYROIOCSHWLOWPASS, 256);
-    ioctl(gyro_fd[0], GYROIOCSSAMPLERATE, 1000);
-    ioctl(gyro_fd[0], SENSORIOCSQUEUEDEPTH, 100);
-
-    ioctl(gyro_fd[1], SENSORIOCSPOLLRATE, 800);
-    ioctl(gyro_fd[1], GYROIOCSLOWPASS, 0);
-    ioctl(gyro_fd[1], GYROIOCSHWLOWPASS, 100);
-    ioctl(gyro_fd[1], GYROIOCSSAMPLERATE, 800);
-    ioctl(gyro_fd[1], SENSORIOCSQUEUEDEPTH, 100);
-
-    ioctl(accel_fd[0], SENSORIOCSPOLLRATE, 1000);
-    ioctl(accel_fd[0], ACCELIOCSLOWPASS, 0);
-    ioctl(accel_fd[0], ACCELIOCSRANGE, 16);
-    ioctl(accel_fd[0], ACCELIOCSHWLOWPASS, 256);
-    ioctl(accel_fd[0], ACCELIOCSSAMPLERATE, 1000);
-    ioctl(accel_fd[0], SENSORIOCSQUEUEDEPTH, 100);
-
-    ioctl(accel_fd[1], SENSORIOCSPOLLRATE, 1600);
-    ioctl(accel_fd[1], ACCELIOCSLOWPASS, 0);
-    ioctl(accel_fd[1], ACCELIOCSRANGE, 16);
-    ioctl(accel_fd[1], ACCELIOCSHWLOWPASS, 194);
-    ioctl(accel_fd[1], ACCELIOCSSAMPLERATE, 1600);
-    ioctl(accel_fd[1], SENSORIOCSQUEUEDEPTH, 100);
-
-    logger.Init(log_structure, ARRAY_SIZE(log_structure));
-    logger.StartNewLog();
-}
-
-void loop(void)
-{
-    bool got_sample = false;
-    static uint32_t last_print;
-    do {
-        got_sample = false;
-        for (uint8_t i=0; i<INS_MAX_INSTANCES; i++) {
-            struct accel_report	accel_report;
-            struct gyro_report	gyro_report;
-            
-            if (accel_fd[i] != -1 && ::read(accel_fd[i], &accel_report, sizeof(accel_report)) == 
-                sizeof(accel_report) &&
-                accel_report.timestamp != last_accel_timestamp[i]) {        
-                uint32_t deltat = accel_report.timestamp - last_accel_timestamp[i];
-                if (deltat > accel_deltat_max[i]) {
-                    accel_deltat_max[i] = deltat;
-                }
-                if (accel_deltat_min[i] == 0 || deltat < accel_deltat_max[i]) {
-                    accel_deltat_min[i] = deltat;
-                }
-                last_accel_timestamp[i] = accel_report.timestamp;
-
-                struct log_ACCEL pkt = {
-                    LOG_PACKET_HEADER_INIT((uint8_t)(LOG_ACC1_MSG+i)),
-                    time_us   : AP_HAL::micros64(),
-                    sample_us : accel_report.timestamp,
-                    AccX      : accel_report.x,
-                    AccY      : accel_report.y,
-                    AccZ      : accel_report.z
-                };
-                logger.WriteBlock(&pkt, sizeof(pkt));
-                got_sample = true;
-                total_samples[i]++;
-            }
-            if (gyro_fd[i] != -1 && ::read(gyro_fd[i], &gyro_report, sizeof(gyro_report)) == 
-                sizeof(gyro_report) &&
-                gyro_report.timestamp != last_gyro_timestamp[i]) {        
-                uint32_t deltat = gyro_report.timestamp - last_gyro_timestamp[i];
-                if (deltat > gyro_deltat_max[i]) {
-                    gyro_deltat_max[i] = deltat;
-                }
-                if (gyro_deltat_min[i] == 0 || deltat < gyro_deltat_max[i]) {
-                    gyro_deltat_min[i] = deltat;
-                }
-                last_gyro_timestamp[i] = gyro_report.timestamp;
-
-                struct log_GYRO pkt = {
-                    LOG_PACKET_HEADER_INIT((uint8_t)(LOG_GYR1_MSG+i)),
-                    time_us   : AP_HAL::micros64(),
-                    sample_us : gyro_report.timestamp,
-                    GyrX      : gyro_report.x,
-                    GyrY      : gyro_report.y,
-                    GyrZ      : gyro_report.z
-                };
-                logger.WriteBlock(&pkt, sizeof(pkt));
-                got_sample = true;
-                total_samples[i]++;
-            }
-        }
-        if (got_sample) {
-            if (total_samples[0] % 2000 == 0 && last_print != total_samples[0]) {
-                last_print = total_samples[0];
-                hal.console->printf("t=%lu total_samples=%lu/%lu/%lu adt=%u:%u/%u:%u/%u:%u gdt=%u:%u/%u:%u/%u:%u\n",
-                                    (unsigned long)AP_HAL::millis(), 
-                                    (unsigned long)total_samples[0], 
-                                    (unsigned long)total_samples[1],
-                                    (unsigned long)total_samples[2],
-                                    accel_deltat_min[0], 
-                                    accel_deltat_max[0], 
-                                    accel_deltat_min[1], 
-                                    accel_deltat_max[1], 
-                                    accel_deltat_min[2], accel_deltat_max[2], 
-                                    gyro_deltat_min[0], gyro_deltat_max[0], 
-                                    gyro_deltat_min[1], gyro_deltat_max[1], 
-                                    gyro_deltat_min[2], gyro_deltat_max[2]);
-#if 0
-                ::printf("t=%lu total_samples=%lu/%lu/%lu adt=%u:%u/%u:%u/%u:%u gdt=%u:%u/%u:%u/%u:%u\n",
-                         AP_HAL::millis(), 
-                         total_samples[0], total_samples[1],total_samples[2],
-                         accel_deltat_min[0], accel_deltat_max[0], 
-                         accel_deltat_min[1], accel_deltat_max[1], 
-                         accel_deltat_min[2], accel_deltat_max[2], 
-                         gyro_deltat_min[0], gyro_deltat_max[0], 
-                         gyro_deltat_min[1], gyro_deltat_max[1], 
-                         gyro_deltat_min[2], gyro_deltat_max[2]);
-#endif
-
-                memset(accel_deltat_min, 0, sizeof(accel_deltat_min));
-                memset(accel_deltat_max, 0, sizeof(accel_deltat_max));
-                memset(gyro_deltat_min, 0, sizeof(gyro_deltat_min));
-                memset(gyro_deltat_max, 0, sizeof(gyro_deltat_max));
-            }
-        }
-    } while (got_sample);
-    hal.scheduler->delay_microseconds(100);
-}
-
-#else
-const AP_HAL::HAL& hal = AP_HAL::get_HAL();
-void setup() {}
-void loop() {}
-#endif // CONFIG_HAL_BOARD
-
-AP_HAL_MAIN();
diff --git a/libraries/AP_InertialSensor/examples/VibTest/wscript b/libraries/AP_InertialSensor/examples/VibTest/wscript
deleted file mode 100644
index 0d16409835..0000000000
--- a/libraries/AP_InertialSensor/examples/VibTest/wscript
+++ /dev/null
@@ -1,9 +0,0 @@
-#!/usr/bin/env python
-# encoding: utf-8
-
-def build(bld):
-    # TODO: Test code doesn't build. Fix or delete the test.
-    return
-    bld.ap_example(
-        use='ap',
-    )