mirror of https://github.com/ArduPilot/ardupilot
124 lines
3.5 KiB
C++
124 lines
3.5 KiB
C++
//
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// Simple test for the AP_RTC class
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//
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#include <AP_HAL/AP_HAL.h>
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#include <AP_BoardConfig/AP_BoardConfig.h>
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#include <GCS_MAVLink/GCS_Dummy.h>
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#include <AP_Logger/AP_Logger.h>
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#include <stdio.h>
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void setup();
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void loop();
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const AP_HAL::HAL& hal = AP_HAL::get_HAL();
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static AP_BoardConfig board_config;
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static AP_SerialManager serial_manager;
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AP_Int32 logger_bitmask;
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static AP_Logger logger;
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static AP_RTC _rtc;
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void setup(void)
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{
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board_config.init();
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serial_manager.init();
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}
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void failed(const char *fmt_in, ...) FMT_PRINTF(1, 2);
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void failed(const char *fmt_in, ...)
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{
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va_list arg_list;
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char fmt[512];
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snprintf(fmt, ARRAY_SIZE(fmt), "### FAILED: %s\n\n", fmt_in);
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#pragma GCC diagnostic ignored "-Wvarargs"
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va_start(arg_list, fmt);
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hal.console->vprintf(fmt, arg_list);
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va_end(arg_list);
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hal.scheduler->delay(2000);
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}
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void loop(void)
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{
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static uint32_t last_run_ms;
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const uint32_t now_ms = AP_HAL::millis();
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if (now_ms - last_run_ms < 2345) {
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return;
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}
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last_run_ms = now_ms;
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uint32_t run_counter = 0;
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AP_RTC &rtc = AP::rtc();
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// kinda_now is a time around 11:30am in Australia
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uint64_t kinda_now = 1565918797000000;
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rtc.set_utc_usec(kinda_now, AP_RTC::SOURCE_GPS);
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hal.console->printf("%s: Test run %u\n", __FILE__, (unsigned)run_counter++);
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uint64_t now = 0;
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if (!rtc.get_utc_usec(now)) {
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failed("get_utc_usec failed");
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return;
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}
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hal.console->printf("Now=%llu\n", (long long unsigned)now);
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if (now < kinda_now) {
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failed("Universe time going backwards. Be afraid.");
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return;
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}
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{ // generally make sure time is moving forward / initial time
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// offset looks right
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uint8_t hour, min, sec;
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uint16_t ms;
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if (!rtc.get_system_clock_utc(hour, min, sec, ms)) {
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failed("Failed to get hour/min/sec/ms");
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return;
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}
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if (run_counter == 0) {
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if (hour != 1 || min != 26) {
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failed("Unexpected hour/min");
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return;
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}
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}
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hal.console->printf("hour=%u min=%u sec=%u ms=%u\n", (unsigned)hour, (unsigned)min, (unsigned)sec, (unsigned)ms);
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uint32_t delta;
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// we make the assumption here that no more than a
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// millisecond can elapse between getting the system clock
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// above and these tests.
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delta = rtc.get_time_utc(hour, min, sec, ms + 1);
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if (delta != 1 && delta != 0) {
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failed("millisecond delta fail");
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}
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delta = rtc.get_time_utc(hour, min, sec + 1, ms);
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if (delta != 1000 && delta != 999) {
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failed("second delta fail");
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}
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delta = rtc.get_time_utc(hour, min + 1, sec, ms);
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if (delta != 60000 && delta != 59999) {
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failed("minute delta fail");
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}
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delta = rtc.get_time_utc(hour + 1, min, sec, ms);
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if (delta != 3600000 && delta != 3599999) {
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failed("hour delta fail");
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}
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if (min > 1) {
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delta = rtc.get_time_utc(hour, min-1, sec, ms);
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if (delta != 86340000 && delta != 86339999) {
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hal.console->printf("got: %u\n", (unsigned)rtc.get_time_utc(hour, min-1, sec, ms));
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failed("negative minute delta fail");
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}
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}
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}
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hal.console->printf("Test complete.\n\n");
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}
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const struct AP_Param::GroupInfo GCS_MAVLINK_Parameters::var_info[] = {
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AP_GROUPEND
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};
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GCS_Dummy _gcs;
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AP_HAL_MAIN();
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