Replacing usleep with px4_usleep

This is a step towards isolating time from the system.

src/systemcmds/tests/hrt_test/hrt_test.cpp

@@ -70,7 +70,7 @@ int HRTTest::main()
 	appState.setRunning(true);
 
 	hrt_abstime t = hrt_absolute_time();
-	usleep(1000000);
+	px4_usleep(1000000);
 	hrt_abstime elt = hrt_elapsed_time(&t);
 	PX4_INFO("Elapsed time %llu in 1 sec (usleep)\n", (unsigned long long)elt);
 	PX4_INFO("Start time %llu\n", (unsigned long long)t);

src/systemcmds/tests/test_adc.c

@@ -36,6 +36,7 @@
  * Test for the analog to digital converter.
  */
 
+#include <px4_time.h>
 #include <px4_config.h>
 #include <px4_posix.h>
 #include <px4_log.h>
@@ -78,7 +79,7 @@ int test_adc(int argc, char *argv[])
 		}
 
 		printf("\n");
-		usleep(150000);
+		px4_usleep(150000);
 	}
 
 	printf("\t ADC test successful.\n");

src/systemcmds/tests/test_dataman.c

@@ -108,7 +108,7 @@ task_main(int argc, char *argv[])
 			PX4_INFO("task %d: %.0f%%", my_id, (double)i * 100.0f / NUM_MISSIONS_TEST);
 		}
 
-		usleep(rand() & ((64 * 1024) - 1));
+		px4_usleep(rand() & ((64 * 1024) - 1));
 	}
 
 	hrt_abstime rstart = hrt_absolute_time();

src/systemcmds/tests/test_hott_telemetry.c

@@ -43,6 +43,7 @@
  * Included Files
  ****************************************************************************/
 
+#include <px4_time.h>
 #include <px4_config.h>
 #include <px4_defines.h>
 #include <px4_log.h>
@@ -220,11 +221,11 @@ int test_hott_telemetry(int argc, char *argv[])
 			      0x00, 0x00, 0x00, 0x7d, 0x12
 			     };
 
-	usleep(5000);
+	px4_usleep(5000);
 
 	for (unsigned int i = 0; i < sizeof(response); i++) {
 		write(fd, &response[i], 1);
-		usleep(1000);
+		px4_usleep(1000);
 	}
 
 	PX4_INFO("PASS: Response sent to the HoTT receiver device. Voltage should now show 2.5V.");

src/systemcmds/tests/test_hrt.cpp

@@ -191,7 +191,7 @@ int test_hrt(int argc, char *argv[])
 	for (i = 0; i < 10; i++) {
 		prev = hrt_absolute_time();
 		gettimeofday(&tv1, nullptr);
-		usleep(100000);
+		px4_usleep(100000);
 		now = hrt_absolute_time();
 		gettimeofday(&tv2, nullptr);
 		printf("%lu (%lu/%lu), %lu (%lu/%lu), %lu\n",
@@ -201,7 +201,7 @@ int test_hrt(int argc, char *argv[])
 		fflush(stdout);
 	}
 
-	usleep(1000000);
+	px4_usleep(1000000);
 
 	printf("one-second ticks\n");
 
@@ -209,7 +209,7 @@ int test_hrt(int argc, char *argv[])
 		hrt_call_after(&call, 1000000, nullptr, nullptr);
 
 		while (!hrt_called(&call)) {
-			usleep(1000);
+			px4_usleep(1000);
 		}
 
 		printf("tick\n");

src/systemcmds/tests/test_hysteresis.cpp

@@ -69,7 +69,7 @@ bool HysteresisTest::_zero_case()
 	ut_assert_true(hysteresis.get_state());
 
 	// A wait won't change anything.
-	usleep(1000 * f);
+	px4_usleep(1000 * f);
 	hysteresis.update();
 	ut_assert_true(hysteresis.get_state());
 
@@ -86,20 +86,20 @@ bool HysteresisTest::_change_after_time()
 	// Change to true.
 	hysteresis.set_state_and_update(true);
 	ut_assert_false(hysteresis.get_state());
-	usleep(4000 * f);
+	px4_usleep(4000 * f);
 	hysteresis.update();
 	ut_assert_false(hysteresis.get_state());
-	usleep(2000 * f);
+	px4_usleep(2000 * f);
 	hysteresis.update();
 	ut_assert_true(hysteresis.get_state());
 
 	// Change back to false.
 	hysteresis.set_state_and_update(false);
 	ut_assert_true(hysteresis.get_state());
-	usleep(1000 * f);
+	px4_usleep(1000 * f);
 	hysteresis.update();
 	ut_assert_true(hysteresis.get_state());
-	usleep(3000 * f);
+	px4_usleep(3000 * f);
 	hysteresis.update();
 	ut_assert_false(hysteresis.get_state());
 
@@ -115,10 +115,10 @@ bool HysteresisTest::_hysteresis_changed()
 	// Change to true.
 	hysteresis.set_state_and_update(true);
 	ut_assert_false(hysteresis.get_state());
-	usleep(3000 * f);
+	px4_usleep(3000 * f);
 	hysteresis.update();
 	ut_assert_false(hysteresis.get_state());
-	usleep(3000 * f);
+	px4_usleep(3000 * f);
 	hysteresis.update();
 	ut_assert_true(hysteresis.get_state());
 
@@ -128,10 +128,10 @@ bool HysteresisTest::_hysteresis_changed()
 	// Change back to false.
 	hysteresis.set_state_and_update(false);
 	ut_assert_true(hysteresis.get_state());
-	usleep(7000 * f);
+	px4_usleep(7000 * f);
 	hysteresis.update();
 	ut_assert_true(hysteresis.get_state());
-	usleep(5000 * f);
+	px4_usleep(5000 * f);
 	hysteresis.update();
 	ut_assert_false(hysteresis.get_state());
 
@@ -147,20 +147,20 @@ bool HysteresisTest::_change_after_multiple_sets()
 	// Change to true.
 	hysteresis.set_state_and_update(true);
 	ut_assert_false(hysteresis.get_state());
-	usleep(3000 * f);
+	px4_usleep(3000 * f);
 	hysteresis.set_state_and_update(true);
 	ut_assert_false(hysteresis.get_state());
-	usleep(3000 * f);
+	px4_usleep(3000 * f);
 	hysteresis.set_state_and_update(true);
 	ut_assert_true(hysteresis.get_state());
 
 	// Change to false.
 	hysteresis.set_state_and_update(false);
 	ut_assert_true(hysteresis.get_state());
-	usleep(3000 * f);
+	px4_usleep(3000 * f);
 	hysteresis.set_state_and_update(false);
 	ut_assert_true(hysteresis.get_state());
-	usleep(3000 * f);
+	px4_usleep(3000 * f);
 	hysteresis.set_state_and_update(false);
 	ut_assert_false(hysteresis.get_state());
 
@@ -175,23 +175,23 @@ bool HysteresisTest::_take_change_back()
 	// Change to true.
 	hysteresis.set_state_and_update(true);
 	ut_assert_false(hysteresis.get_state());
-	usleep(3000 * f);
+	px4_usleep(3000 * f);
 	hysteresis.update();
 	ut_assert_false(hysteresis.get_state());
 	// Change your mind to false.
 	hysteresis.set_state_and_update(false);
 	ut_assert_false(hysteresis.get_state());
-	usleep(6000 * f);
+	px4_usleep(6000 * f);
 	hysteresis.update();
 	ut_assert_false(hysteresis.get_state());
 
 	// And true again
 	hysteresis.set_state_and_update(true);
 	ut_assert_false(hysteresis.get_state());
-	usleep(3000 * f);
+	px4_usleep(3000 * f);
 	hysteresis.update();
 	ut_assert_false(hysteresis.get_state());
-	usleep(3000 * f);
+	px4_usleep(3000 * f);
 	hysteresis.update();
 	ut_assert_true(hysteresis.get_state());
 

src/systemcmds/tests/test_led.c

@@ -35,6 +35,7 @@
  * Included Files
  ****************************************************************************/
 
+#include <px4_time.h>
 #include <px4_config.h>
 #include <px4_posix.h>
 
@@ -120,7 +121,7 @@ int test_led(int argc, char *argv[])
 		}
 
 		ledon = !ledon;
-		usleep(60000);
+		px4_usleep(60000);
 	}
 
 	/* Go back to default */

src/systemcmds/tests/test_microbench_hrt.cpp

@@ -65,7 +65,7 @@ void unlock()
 }
 
 #define PERF(name, op, count) do { \
-		usleep(1000); \
+		px4_usleep(1000); \
 		reset(); \
 		perf_counter_t p = perf_alloc(PC_ELAPSED, name); \
 		for (int i = 0; i < count; i++) { \

src/systemcmds/tests/test_microbench_math.cpp

@@ -65,7 +65,7 @@ void unlock()
 }
 
 #define PERF(name, op, count) do { \
-		usleep(1000); \
+		px4_usleep(1000); \
 		reset(); \
 		perf_counter_t p = perf_alloc(PC_ELAPSED, name); \
 		for (int i = 0; i < count; i++) { \

src/systemcmds/tests/test_microbench_matrix.cpp

@@ -67,7 +67,7 @@ void unlock()
 }
 
 #define PERF(name, op, count) do { \
-		usleep(1000); \
+		px4_usleep(1000); \
 		reset(); \
 		perf_counter_t p = perf_alloc(PC_ELAPSED, name); \
 		for (int i = 0; i < count; i++) { \

src/systemcmds/tests/test_microbench_uorb.cpp

@@ -70,7 +70,7 @@ void unlock()
 }
 
 #define PERF(name, op, count) do { \
-		usleep(1000); \
+		px4_usleep(1000); \
 		reset(); \
 		perf_counter_t p = perf_alloc(PC_ELAPSED, name); \
 		for (int i = 0; i < count; i++) { \

src/systemcmds/tests/test_mixer.cpp

@@ -451,7 +451,7 @@ bool MixerTest::mixerTest()
 			}
 		}
 
-		usleep(sleep_quantum_us);
+		px4_usleep(sleep_quantum_us);
 		sleepcount++;
 
 		if (sleepcount % 10 == 0) {
@@ -516,7 +516,7 @@ bool MixerTest::mixerTest()
 			}
 		}
 
-		usleep(sleep_quantum_us);
+		px4_usleep(sleep_quantum_us);
 		sleepcount++;
 
 		if (sleepcount % 10 == 0) {
@@ -566,7 +566,7 @@ bool MixerTest::mixerTest()
 			}
 		}
 
-		usleep(sleep_quantum_us);
+		px4_usleep(sleep_quantum_us);
 		sleepcount++;
 
 		if (sleepcount % 10 == 0) {

src/systemcmds/tests/test_mount.c

@@ -151,7 +151,7 @@ test_mount(int argc, char *argv[])
 				PX4_INFO("\n SUCCESSFULLY PASSED FSYNC'ED WRITES, CONTINUTING WITHOUT FSYNC");
 				fsync(fileno(stdout));
 				fsync(fileno(stderr));
-				usleep(20000);
+				px4_usleep(20000);
 			}
 
 		}
@@ -186,7 +186,7 @@ test_mount(int argc, char *argv[])
 		printf("unpower the system immediately (within 0.5s) when the hash (#) sign appears\n");
 		fsync(fileno(stdout));
 		fsync(fileno(stderr));
-		usleep(50000);
+		px4_usleep(50000);
 
 		for (unsigned a = 0; a < alignments; a++) {
 
@@ -236,7 +236,7 @@ test_mount(int argc, char *argv[])
 			printf(".");
 			fsync(fileno(stdout));
 			fsync(fileno(stderr));
-			usleep(200000);
+			px4_usleep(200000);
 
 			px4_close(fd);
 			fd = px4_open(PX4_STORAGEDIR "/testfile", O_RDONLY);
@@ -282,7 +282,7 @@ test_mount(int argc, char *argv[])
 
 	fsync(fileno(stdout));
 	fsync(fileno(stderr));
-	usleep(20000);
+	px4_usleep(20000);
 
 	close(cmd_fd);
 
@@ -290,7 +290,7 @@ test_mount(int argc, char *argv[])
 	PX4_INFO("Iteration done, rebooting..");
 	fsync(fileno(stdout));
 	fsync(fileno(stderr));
-	usleep(50000);
+	px4_usleep(50000);
 	px4_systemreset(false);
 
 	/* never going to get here */

src/systemcmds/tests/test_ppm_loopback.c

@@ -37,6 +37,7 @@
  *
  */
 
+#include <px4_time.h>
 #include <px4_config.h>
 
 #include <sys/types.h>
@@ -136,7 +137,7 @@ int test_ppm_loopback(int argc, char *argv[])
 	/* read low-level values from FMU or IO RC inputs (PPM, Spektrum, S.Bus) */
 	struct input_rc_s rc_input;
 	orb_copy(ORB_ID(input_rc), _rc_sub, &rc_input);
-	usleep(100000);
+	px4_usleep(100000);
 
 	/* open PPM input and expect values close to the output values */
 

src/systemcmds/tests/test_rc.c

@@ -67,7 +67,7 @@ int test_rc(int argc, char *argv[])
 	struct input_rc_s rc_input;
 	struct input_rc_s rc_last;
 	orb_copy(ORB_ID(input_rc), _rc_sub, &rc_input);
-	usleep(100000);
+	px4_usleep(100000);
 
 	/* open PPM input and expect values close to the output values */
 

src/systemcmds/tests/test_sensors.c

@@ -38,6 +38,7 @@
  * @author Lorenz Meier <lm@inf.ethz.ch>
  */
 
+#include <px4_time.h>
 #include <px4_config.h>
 #include <px4_posix.h>
 
@@ -101,7 +102,7 @@ accel(int argc, char *argv[], const char *path)
 	}
 
 	/* wait at least 100ms, sensor should have data after no more than 20ms */
-	usleep(100000);
+	px4_usleep(100000);
 
 	/* read data - expect samples */
 	ret = px4_read(fd, &buf, sizeof(buf));
@@ -151,7 +152,7 @@ gyro(int argc, char *argv[], const char *path)
 	}
 
 	/* wait at least 5 ms, sensor should have data after that */
-	usleep(5000);
+	px4_usleep(5000);
 
 	/* read data - expect samples */
 	ret = px4_read(fd, &buf, sizeof(buf));
@@ -196,7 +197,7 @@ mag(int argc, char *argv[], const char *path)
 	}
 
 	/* wait at least 5 ms, sensor should have data after that */
-	usleep(5000);
+	px4_usleep(5000);
 
 	/* read data - expect samples */
 	ret = px4_read(fd, &buf, sizeof(buf));
@@ -241,7 +242,7 @@ baro(int argc, char *argv[], const char *path)
 	}
 
 	/* wait at least 5 ms, sensor should have data after that */
-	usleep(5000);
+	px4_usleep(5000);
 
 	/* read data - expect samples */
 	ret = px4_read(fd, &buf, sizeof(buf));

src/systemcmds/tests/test_servo.c

@@ -37,6 +37,7 @@
  *
  */
 
+#include <px4_time.h>
 #include <px4_config.h>
 
 #include <sys/types.h>
@@ -113,7 +114,7 @@ int test_servo(int argc, char *argv[])
 		goto out;
 	}
 
-	usleep(5000000);
+	px4_usleep(5000000);
 	printf("Advancing channel 0 to 1500\n");
 	result = ioctl(fd, PWM_SERVO_SET(0), 1500);
 	printf("Advancing channel 1 to 1800\n");

src/systemcmds/tests/test_sleep.c

@@ -35,6 +35,7 @@
  * Included Files
  ****************************************************************************/
 
+#include <px4_time.h>
 #include <px4_config.h>
 #include <px4_defines.h>
 
@@ -57,7 +58,7 @@ int test_sleep(int argc, char *argv[])
 	fflush(stdout);
 
 	for (unsigned int i = 0; i < nsleeps; i++) {
-		usleep(100000);
+		px4_usleep(100000);
 	}
 
 	printf("\t Sleep test successful.\n");