mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-17 12:03:34 +08:00
muorb test move to modules/muorb/test
This commit is contained in:
Daniel Agar
committed by
David Sidrane
David Sidrane
parent
c3448c19c4
commit
85c5fb4295
@@ -0,0 +1,41 @@
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############################################################################
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#
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# Copyright (c) 2015 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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px4_add_module(
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MODULE modules__muorb__test__muorb_test
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MAIN muorb_test
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SRCS
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muorb_test_main.cpp
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muorb_test_start_posix.cpp
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muorb_test_example.cpp
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DEPENDS
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)
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@@ -0,0 +1,184 @@
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/****************************************************************************
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*
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* Copyright (C) 2015 Mark Charlebois. 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
|
||||
* 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 hello_example.cpp
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* Example for Linux
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*
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* @author Mark Charlebois <charlebm@gmail.com>
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*/
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#include "muorb_test_example.h"
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#include <px4_log.h>
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#include <unistd.h>
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#include <stdio.h>
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#include <px4_defines.h>
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px4::AppState MuorbTestExample::appState;
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int MuorbTestExample::main()
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{
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int rc;
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appState.setRunning(true);
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rc = PingPongTest();
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appState.setRunning(false);
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return rc;
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}
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int MuorbTestExample::DefaultTest()
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{
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int i = 0;
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orb_advert_t pub_id = orb_advertise(ORB_ID(esc_status), & m_esc_status);
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if (pub_id == nullptr) {
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PX4_ERR("error publishing esc_status");
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return -1;
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}
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orb_advert_t pub_id_vc = orb_advertise(ORB_ID(vehicle_command), & m_vc);
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if (pub_id_vc == nullptr) {
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PX4_ERR("error publishing vehicle_command");
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return -1;
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}
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if (orb_publish(ORB_ID(vehicle_command), pub_id_vc, &m_vc) == PX4_ERROR) {
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PX4_ERR("[%d]Error publishing the vechile command message", i);
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return -1;
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}
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int sub_vc = orb_subscribe(ORB_ID(vehicle_command));
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if (sub_vc == PX4_ERROR) {
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PX4_ERR("Error subscribing to vehicle_command topic");
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return -1;
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}
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while (!appState.exitRequested() && i < 100) {
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PX4_DEBUG("[%d] Doing work...", i);
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if (orb_publish(ORB_ID(esc_status), pub_id, &m_esc_status) == PX4_ERROR) {
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PX4_ERR("[%d]Error publishing the esc status message for iter", i);
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break;
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}
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bool updated = false;
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if (orb_check(sub_vc, &updated) == 0) {
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if (updated) {
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PX4_DEBUG("[%d]Vechicle Status is updated... reading new value", i);
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if (orb_copy(ORB_ID(vehicle_command), sub_vc, &m_vc) != 0) {
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PX4_ERR("[%d]Error calling orb copy for vechivle status... ", i);
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break;
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}
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if (orb_publish(ORB_ID(vehicle_command), pub_id_vc, &m_vc) == PX4_ERROR) {
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PX4_ERR("[%d]Error publishing the vechile command message", i);
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break;
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}
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} else {
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PX4_DEBUG("[%d] VC topic is not updated", i);
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}
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} else {
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PX4_ERR("[%d]Error checking the updated status for vechile command... ", i);
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break;
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}
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++i;
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}
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return 0;
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}
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int MuorbTestExample::PingPongTest()
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{
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int i = 0;
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orb_advert_t pub_id_vc = orb_advertise(ORB_ID(vehicle_command), & m_vc);
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if (pub_id_vc == nullptr) {
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PX4_ERR("error publishing vehicle_command");
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return -1;
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}
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if (orb_publish(ORB_ID(vehicle_command), pub_id_vc, &m_vc) == PX4_ERROR) {
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PX4_ERR("[%d]Error publishing the vechile command message", i);
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return -1;
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}
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int sub_esc_status = orb_subscribe(ORB_ID(esc_status));
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if (sub_esc_status == PX4_ERROR) {
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PX4_ERR("Error subscribing to esc_status topic");
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return -1;
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}
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while (!appState.exitRequested()) {
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PX4_INFO("[%d] Doing work...", i);
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bool updated = false;
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if (orb_check(sub_esc_status, &updated) == 0) {
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if (updated) {
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PX4_INFO("[%d]ESC status is updated... reading new value", i);
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if (orb_copy(ORB_ID(esc_status), sub_esc_status, &m_esc_status) != 0) {
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PX4_ERR("[%d]Error calling orb copy for esc status... ", i);
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break;
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}
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if (orb_publish(ORB_ID(vehicle_command), pub_id_vc, &m_vc) == PX4_ERROR) {
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PX4_ERR("[%d]Error publishing the vechile command message", i);
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break;
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}
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} else {
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PX4_INFO("[%d] esc status topic is not updated", i);
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}
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} else {
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PX4_ERR("[%d]Error checking the updated status for esc status... ", i);
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break;
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}
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// sleep for 1 sec.
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usleep(1000000);
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++i;
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}
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return 0;
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}
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@@ -0,0 +1,62 @@
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/****************************************************************************
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*
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* Copyright (C) 2015 Mark Charlebois. 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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||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* 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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* 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
|
||||
* 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 hello_example.h
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* Example app for Linux
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*
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* @author Mark Charlebois <charlebm@gmail.com>
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*/
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#pragma once
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#include <px4_app.h>
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#include "uORB/topics/esc_status.h"
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#include "uORB/topics/vehicle_command.h"
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class MuorbTestExample
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{
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public:
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MuorbTestExample() {}
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~MuorbTestExample() {}
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int main();
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static px4::AppState appState; /* track requests to terminate app */
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private:
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int DefaultTest();
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int PingPongTest();
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struct esc_status_s m_esc_status;
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struct vehicle_command_s m_vc = {};
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};
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@@ -0,0 +1,59 @@
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/****************************************************************************
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*
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* Copyright (C) 2015 Mark Charlebois. 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
|
||||
* are met:
|
||||
*
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||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
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* the documentation and/or other materials provided with the
|
||||
* 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
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* 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,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* 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
|
||||
* 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 hello_main.cpp
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* Example for Linux
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*
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* @author Mark Charlebois <charlebm@gmail.com>
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*/
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#include <px4_middleware.h>
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#include <px4_log.h>
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#include <px4_app.h>
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#include "muorb_test_example.h"
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#include <stdio.h>
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#include "uORB/uORBManager.hpp"
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#include "../../../modules/muorb/krait/uORBKraitFastRpcChannel.hpp"
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int PX4_MAIN(int argc, char **argv)
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{
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px4::init(argc, argv, "muorb_test");
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PX4_DEBUG("muorb_test");
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MuorbTestExample hello;
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hello.main();
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PX4_DEBUG("goodbye");
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return 0;
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}
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@@ -0,0 +1,101 @@
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/****************************************************************************
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*
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* Copyright (C) 2015 Mark Charlebois. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* 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 hello_start_linux.cpp
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*
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* @author Thomas Gubler <thomasgubler@gmail.com>
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* @author Mark Charlebois <mcharleb@gmail.com>
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*/
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#include "muorb_test_example.h"
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#include <px4_log.h>
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#include <px4_app.h>
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#include <px4_tasks.h>
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#include <stdio.h>
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#include <string.h>
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#include <sched.h>
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static int daemon_task; /* Handle of deamon task / thread */
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//using namespace px4;
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extern "C" __EXPORT int muorb_test_main(int argc, char *argv[]);
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static void usage()
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{
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PX4_DEBUG("usage: muorb_test {start|stop|status}");
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}
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int muorb_test_main(int argc, char *argv[])
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{
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if (argc < 2) {
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usage();
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return 1;
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}
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if (!strcmp(argv[1], "start")) {
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if (MuorbTestExample::appState.isRunning()) {
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PX4_DEBUG("already running");
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/* this is not an error */
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return 0;
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}
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daemon_task = px4_task_spawn_cmd("muorb_test",
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SCHED_DEFAULT,
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SCHED_PRIORITY_MAX - 5,
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16000,
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PX4_MAIN,
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(char *const *)argv);
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return 0;
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}
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if (!strcmp(argv[1], "stop")) {
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MuorbTestExample::appState.requestExit();
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return 0;
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}
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if (!strcmp(argv[1], "status")) {
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if (MuorbTestExample::appState.isRunning()) {
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PX4_DEBUG("is running");
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} else {
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PX4_DEBUG("not started");
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}
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return 0;
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}
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usage();
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return 1;
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}
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