Add modified Px4 Simple App for SLIP testing (couldn't compile)

src/examples/px4_simple_app/px4_simple_app.c

@@ -33,7 +33,9 @@
 
 /**
  * @file px4_simple_app.c
- * Minimal application example for PX4 autopilot
+ *
+ * Simple app to test SLIP utility.
+ * Partial copy of platforms/nuttx/NuttX/apps/examples/thttpd/thttpd_main.c
  *
  * @author Example User <mail@example.com>
  */
@@ -41,86 +43,61 @@
 #include <px4_platform_common/px4_config.h>
 #include <px4_platform_common/tasks.h>
 #include <px4_platform_common/posix.h>
-#include <unistd.h>
-#include <stdio.h>
-#include <poll.h>
-#include <string.h>
-#include <math.h>
+// #include <unistd.h>
+// #include <stdio.h>
+// #include <poll.h>
+// #include <string.h>
+// #include <math.h>
+
+// #include "netutils/netlib.h"
+
+/* Include SLIP related libraries / macro defs */
+#ifdef CONFIG_NET_SLIP
+/* TTY device to use */
+
+#pragma message "NET_SLIP is enabled, adding the libraries!"
+
+// #  include <nuttx/net/net.h>
+#  include <nuttx/net/slip.h>
+
+#  ifndef CONFIG_NET_SLIPTTY
+#    define CONFIG_NET_SLIPTTY "/dev/ttyS4"
+#  endif
+
+#  define SLIP_DEVNO 0
+
+#  ifndef NET_DEVNAME
+#    define NET_DEVNAME "sl0"
+#  endif
+
+#endif
+
 
-#include <uORB/uORB.h>
-#include <uORB/topics/vehicle_acceleration.h>
-#include <uORB/topics/vehicle_attitude.h>
 
 __EXPORT int px4_simple_app_main(int argc, char *argv[]);
 
 int px4_simple_app_main(int argc, char *argv[])
 {
-	PX4_INFO("Hello Sky!");
+	PX4_INFO("PX4 Simple SLIP Testing App!");
 
-	/* subscribe to vehicle_acceleration topic */
-	int sensor_sub_fd = orb_subscribe(ORB_ID(vehicle_acceleration));
-	/* limit the update rate to 5 Hz */
-	orb_set_interval(sensor_sub_fd, 200);
+	/* Sanity Checks */
+	// static_assert(CONFIG_NET_SLIPTTY == "/dev/ttyS4");
 
-	/* advertise attitude topic */
-	struct vehicle_attitude_s att;
-	memset(&att, 0, sizeof(att));
-	orb_advert_t att_pub = orb_advertise(ORB_ID(vehicle_attitude), &att);
+	/* Configure SLIP */
 
-	/* one could wait for multiple topics with this technique, just using one here */
-	px4_pollfd_struct_t fds[] = {
-		{ .fd = sensor_sub_fd,   .events = POLLIN },
-		/* there could be more file descriptors here, in the form like:
-		 * { .fd = other_sub_fd,   .events = POLLIN },
-		 */
-	};
+#ifdef CONFIG_NET_SLIP
+	int ret = slip_initialize(SLIP_DEVNO, CONFIG_NET_SLIPTTY);
 
-	int error_counter = 0;
+	if (ret < 0) {
+		printf("ERROR: SLIP initialization failed: %d\n", ret);
+		exit(1);
+	}
 
-	for (int i = 0; i < 5; i++) {
-		/* wait for sensor update of 1 file descriptor for 1000 ms (1 second) */
-		int poll_ret = px4_poll(fds, 1, 1000);
+#endif
 
-		/* handle the poll result */
-		if (poll_ret == 0) {
-			/* this means none of our providers is giving us data */
-			PX4_ERR("Got no data within a second");
-
-		} else if (poll_ret < 0) {
-			/* this is seriously bad - should be an emergency */
-			if (error_counter < 10 || error_counter % 50 == 0) {
-				/* use a counter to prevent flooding (and slowing us down) */
-				PX4_ERR("ERROR return value from poll(): %d", poll_ret);
-			}
-
-			error_counter++;
-
-		} else {
-
-			if (fds[0].revents & POLLIN) {
-				/* obtained data for the first file descriptor */
-				struct vehicle_acceleration_s accel;
-				/* copy sensors raw data into local buffer */
-				orb_copy(ORB_ID(vehicle_acceleration), sensor_sub_fd, &accel);
-				PX4_INFO("Accelerometer:\t%8.4f\t%8.4f\t%8.4f",
-					 (double)accel.xyz[0],
-					 (double)accel.xyz[1],
-					 (double)accel.xyz[2]);
-
-				/* set att and publish this information for other apps
-				 the following does not have any meaning, it's just an example
-				*/
-				att.q[0] = accel.xyz[0];
-				att.q[1] = accel.xyz[1];
-				att.q[2] = accel.xyz[2];
-
-				orb_publish(ORB_ID(vehicle_attitude), att_pub, &att);
-			}
-
-			/* there could be more file descriptors here, in the form like:
-			 * if (fds[1..n].revents & POLLIN) {}
-			 */
-		}
+	// Idle by just sleeping for 1 second continuously
+	while (true) {
+		px4_usleep(1E6);
 	}
 
 	PX4_INFO("exiting");