forked from Archive/PX4-Autopilot
Deleted old cruft
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############################################################################
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#
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# Copyright (C) 2012 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in
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# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name PX4 nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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#
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# Delay test
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#
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APPNAME = delay_test
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PRIORITY = SCHED_PRIORITY_DEFAULT
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STACKSIZE = 2048
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include $(APPDIR)/mk/app.mk
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MAXOPTIMIZATION = -Os
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/****************************************************************************
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*
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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* Author: Lorenz Meier <lm@inf.ethz.ch>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file delay_test.c
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*
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* Simple but effective delay test using leds and a scope to measure
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* communication delays end-to-end accurately.
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*
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* @author Lorenz Meier <lm@inf.ethz.ch>
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*/
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#include <nuttx/config.h>
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#include <unistd.h>
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#include <stdlib.h>
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#include <stdio.h>
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#include <fcntl.h>
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#include <errno.h>
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#include <poll.h>
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#include <string.h>
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#include <systemlib/err.h>
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#include <drivers/drv_led.h>
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#include <drivers/drv_hrt.h>
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#include <drivers/drv_tone_alarm.h>
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#include <uORB/topics/vehicle_vicon_position.h>
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#include <uORB/topics/vehicle_command.h>
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__EXPORT int delay_test_main(int argc, char *argv[]);
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static int led_on(int leds, int led);
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static int led_off(int leds, int led);
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int delay_test_main(int argc, char *argv[])
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{
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bool vicon_msg = false;
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bool command_msg = false;
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if (argc > 1 && !strcmp(argv[1], "--help")) {
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warnx("usage: delay_test [vicon] [command]\n");
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exit(1);
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}
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if (argc > 1 && !strcmp(argv[1], "vicon")) {
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vicon_msg = true;
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}
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if (argc > 1 && !strcmp(argv[1], "command")) {
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command_msg = true;
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}
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int buzzer = open("/dev/tone_alarm", O_WRONLY);
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int leds = open(LED_DEVICE_PATH, 0);
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/* prepare use of amber led */
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led_off(leds, LED_AMBER);
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int topic;
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/* subscribe to topic */
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if (vicon_msg) {
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topic = orb_subscribe(ORB_ID(vehicle_vicon_position));
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} else if (command_msg) {
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topic = orb_subscribe(ORB_ID(vehicle_command));
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} else {
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errx(1, "No topic selected for delay test, use --help for a list of topics.");
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}
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const int testcount = 20;
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warnx("running %d iterations..\n", testcount);
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struct pollfd fds[1];
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fds[0].fd = topic;
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fds[0].events = POLLIN;
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/* display and sound error */
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for (int i = 0; i < testcount; i++)
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{
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/* wait for topic */
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int ret = poll(&fds[0], 1, 2000);
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/* this would be bad... */
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if (ret < 0) {
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warnx("poll error %d", errno);
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usleep(1000000);
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continue;
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}
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/* do we have a topic update? */
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if (fds[0].revents & POLLIN) {
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/* copy object to disable poll ready state */
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if (vicon_msg) {
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struct vehicle_vicon_position_s vicon_position;
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orb_copy(ORB_ID(vehicle_vicon_position), topic, &vicon_position);
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} else if (command_msg) {
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struct vehicle_command_s vehicle_command;
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orb_copy(ORB_ID(vehicle_command), topic, &vehicle_command);
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}
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led_on(leds, LED_AMBER);
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ioctl(buzzer, TONE_SET_ALARM, 4);
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/* keep led on for 50 ms to make it barely visible */
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usleep(50000);
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led_off(leds, LED_AMBER);
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}
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}
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/* stop alarm */
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ioctl(buzzer, TONE_SET_ALARM, 0);
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/* switch on leds */
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led_on(leds, LED_BLUE);
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led_on(leds, LED_AMBER);
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exit(0);
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}
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static int led_off(int leds, int led)
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{
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return ioctl(leds, LED_OFF, led);
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}
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static int led_on(int leds, int led)
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{
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return ioctl(leds, LED_ON, led);
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}
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