AP_RTC: add example for RTC functions

libraries/AP_RTC/examples/RTC_test/RTC_Test.cpp

@@ -0,0 +1,122 @@
+//
+// Simple test for the AP_RTC class
+//
+
+#include <AP_HAL/AP_HAL.h>
+#include <AP_BoardConfig/AP_BoardConfig.h>
+#include <GCS_MAVLink/GCS_Dummy.h>
+#include <AP_Logger/AP_Logger.h>
+
+#include <stdio.h>
+
+void setup();
+void loop();
+
+const AP_HAL::HAL& hal = AP_HAL::get_HAL();
+
+static AP_BoardConfig board_config;
+static AP_SerialManager serial_manager;
+AP_Int32 logger_bitmask;
+static AP_Logger logger{logger_bitmask};
+static AP_RTC _rtc;
+
+void setup(void)
+{
+    board_config.init();
+    serial_manager.init();
+}
+
+void failed(const char *fmt_in, ...) FMT_PRINTF(1, 2);
+
+void failed(const char *fmt_in, ...)
+{
+    va_list arg_list;
+
+    char fmt[512];
+    snprintf(fmt, ARRAY_SIZE(fmt), "### FAILED: %s\n\n", fmt_in);
+
+#pragma GCC diagnostic ignored "-Wvarargs"
+    va_start(arg_list, fmt);
+    hal.console->vprintf(fmt, arg_list);
+    va_end(arg_list);
+
+    hal.scheduler->delay(2000);
+}
+
+void loop(void)
+{
+    static uint32_t last_run_ms;
+    const uint32_t now_ms = AP_HAL::millis();
+    if (now_ms - last_run_ms < 2345) {
+        return;
+    }
+    last_run_ms = now_ms;
+
+    uint32_t run_counter = 0;
+    AP_RTC &rtc = AP::rtc();
+    // kinda_now is a time around 11:30am in Australia
+    uint64_t kinda_now = 1565918797000000;
+    rtc.set_utc_usec(kinda_now, AP_RTC::SOURCE_GPS);
+    hal.console->printf("%s: Test run %u\n", __FILE__, (unsigned)run_counter++);
+    uint64_t now = 0;
+    if (!rtc.get_utc_usec(now)) {
+        failed("get_utc_usec failed");
+        return;
+    }
+    hal.console->printf("Now=%llu\n", (long long unsigned)now);
+    if (now < kinda_now) {
+        failed("Universe time going backwards.  Be afraid.");
+        return;
+    }
+    { // generally make sure time is moving forward / initial time
+        // offset looks right
+        int32_t hour, min, sec, ms;
+        if (!rtc.get_system_clock_utc(hour, min, sec, ms)) {
+            failed("Failed to get hour/min/sec/ms");
+            return;
+        }
+        if (run_counter == 0) {
+            if (hour != 1 || min != 26) {
+                failed("Unexpected hour/min");
+                return;
+            }
+        }
+        hal.console->printf("hour=%u min=%u sec=%u ms=%u\n", (unsigned)hour, (unsigned)min, (unsigned)sec, (unsigned)ms);
+        uint32_t delta;
+        // we make the assumption here that no more than a
+        // millisecond can elapse between getting the system clock
+        // above and these tests.
+        delta = rtc.get_time_utc(hour, min, sec, ms + 1);
+        if (delta != 1 && delta != 0) {
+            failed("millisecond delta fail");
+        }
+        delta = rtc.get_time_utc(hour, min, sec + 1, ms);
+        if (delta != 1000 && delta != 999) {
+            failed("second delta fail");
+        }
+        delta = rtc.get_time_utc(hour, min + 1, sec, ms);
+        if (delta != 60000 && delta != 59999) {
+            failed("minute delta fail");
+        }
+        delta = rtc.get_time_utc(hour + 1, min, sec, ms);
+        if (delta != 3600000 && delta != 3599999) {
+            failed("hour delta fail");
+        }
+        if (min > 1) {
+            delta = rtc.get_time_utc(hour, min-1, sec, ms);
+            if (delta != 86340000 && delta != 86339999) {
+                hal.console->printf("got: %u\n", (unsigned)rtc.get_time_utc(hour, min-1, sec, ms));
+                failed("negative minute delta fail");
+            }
+        }
+    }
+
+    hal.console->printf("Test complete.\n\n");
+}
+
+const struct AP_Param::GroupInfo        GCS_MAVLINK_Parameters::var_info[] = {
+    AP_GROUPEND
+};
+GCS_Dummy _gcs;
+
+AP_HAL_MAIN();

libraries/AP_RTC/examples/RTC_test/wscript

@@ -0,0 +1,7 @@
+#!/usr/bin/env python
+# encoding: utf-8
+
+def build(bld):
+    bld.ap_example(
+        use='ap',
+    )