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Merge pull request #2518 from mcharleb/posix-muorb

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POSIX: added muorb tests
This commit is contained in:
Lorenz Meier 2015-07-02 09:20:10 +02:00
commit b47d623d57
4 changed files with 77 additions and 17 deletions
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6
src/platforms/posix/tests/muorb/module.mk
View File

@ -37,9 +37,9 @@
MODULE_COMMAND = muorb_test
INCLUDE_DIRS += ${PX4_BASE}../muorb_krait \
${PX4_BASE}../muorb_krait/lib/include \
${PX4_BASE}../muorb_krait/Pal/lib
INCLUDE_DIRS += \
$(EXT_MUORB_LIB_ROOT)/krait/include \
$(PX4_BASE)src/modules/muorb/krait
SRCS = muorb_test_main.cpp \
muorb_test_start_posix.cpp \

79
src/platforms/posix/tests/muorb/muorb_test_example.cpp
View File

@ -48,9 +48,16 @@ px4::AppState MuorbTestExample::appState;
int MuorbTestExample::main()
{
int rc;
appState.setRunning(true);
rc = PingPongTest();
appState.setRunning(false);
return rc;
}
int i=0;
int MuorbTestExample::DefaultTest()
{
int i=0;
orb_advert_t pub_id = orb_advertise( ORB_ID( esc_status ), & m_esc_status );
if( pub_id == 0 )
{
@ -75,9 +82,9 @@ int MuorbTestExample::main()
return -1;
}
while (!appState.exitRequested() && i<100) {
while (!appState.exitRequested() && i<100) {
PX4_DEBUG("[%d] Doing work...", i );
PX4_DEBUG("[%d] Doing work...", i );
if( orb_publish( ORB_ID( esc_status ), pub_id, &m_esc_status ) == PX4_ERROR )
{
PX4_ERR( "[%d]Error publishing the esc status message for iter", i );
@ -111,8 +118,66 @@ int MuorbTestExample::main()
break;
}
++i;
}
return 0;
++i;
}
return 0;
}
int MuorbTestExample::PingPongTest()
{
int i=0;
orb_advert_t pub_id_vc = orb_advertise( ORB_ID( vehicle_command ), & m_vc );
if( pub_id_vc == 0 )
{
PX4_ERR( "error publishing vehicle_command" );
return -1;
}
if( orb_publish( ORB_ID( vehicle_command ), pub_id_vc, &m_vc ) == PX4_ERROR )
{
PX4_ERR( "[%d]Error publishing the vechile command message", i );
return -1;
}
int sub_esc_status = orb_subscribe( ORB_ID( esc_status ) );
if ( sub_esc_status == PX4_ERROR )
{
PX4_ERR( "Error subscribing to esc_status topic" );
return -1;
}
while (!appState.exitRequested() ) {
PX4_INFO("[%d] Doing work...", i );
bool updated = false;
if( orb_check( sub_esc_status, &updated ) == 0 )
{
if( updated )
{
PX4_INFO( "[%d]ESC status is updated... reading new value", i );
if( orb_copy( ORB_ID( esc_status ), sub_esc_status, &m_esc_status ) != 0 )
{
PX4_ERR( "[%d]Error calling orb copy for esc status... ", i );
break;
}
if( orb_publish( ORB_ID( vehicle_command ), pub_id_vc, &m_vc ) == PX4_ERROR )
{
PX4_ERR( "[%d]Error publishing the vechile command message", i );
break;
}
}
else
{
PX4_INFO( "[%d] esc status topic is not updated", i );
}
}
else
{
PX4_ERR( "[%d]Error checking the updated status for esc status... ", i );
break;
}
// sleep for 1 sec.
usleep( 1000000 );
++i;
}
return 0;
}

2
src/platforms/posix/tests/muorb/muorb_test_example.h
View File

@ -53,6 +53,8 @@ public:
static px4::AppState appState; /* track requests to terminate app */
private:
int DefaultTest();
int PingPongTest();
struct esc_status_s m_esc_status;
struct vehicle_command_s m_vc;

7
src/platforms/posix/tests/muorb/muorb_test_main.cpp
View File

@ -51,16 +51,9 @@ int PX4_MAIN(int argc, char **argv)
PX4_DEBUG("muorb_test");
// register the fast rpc channel with UORB.
uORB::Manager::get_instance()->set_uorb_communicator( uORB::KraitFastRpcChannel::GetInstance() );
// start the KaitFastRPC channel thread.
uORB::KraitFastRpcChannel::GetInstance()->Start();
MuorbTestExample hello;
hello.main();
uORB::KraitFastRpcChannel::GetInstance()->Stop();
PX4_DEBUG("goodbye");
return 0;
}