mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-17 19:27:35 +08:00
move posix/tests/hrt_test to systemcmds/tests/hrt_test
This commit is contained in:
Daniel Agar
committed by
David Sidrane
David Sidrane
parent
750e66f43b
commit
fecdfe5fbc
@@ -103,3 +103,5 @@ px4_add_module(
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pwm_limit
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version
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)
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add_subdirectory(hrt_test)
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@@ -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 systemcmds__tests__hrt_test
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MAIN hrt_test
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SRCS
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hrt_test_main.cpp
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hrt_test_start.cpp
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hrt_test.cpp
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DEPENDS
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)
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@@ -0,0 +1,95 @@
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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
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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 hrt_test.cpp
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* Test High Resolution Timers in Linux
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*
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* @author Mark Charlebois <charlebm@gmail.com>
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*/
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#include "hrt_test.h"
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#include <drivers/drv_hrt.h>
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#include <px4_log.h>
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#include <px4_time.h>
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#include <unistd.h>
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#include <stdio.h>
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#include <cstring>
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px4::AppState HRTTest::appState;
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static struct hrt_call t1;
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static int update_interval = 1;
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static void timer_expired(void *arg)
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{
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static int i = 0;
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PX4_INFO("Test\n");
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if (i < 5) {
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i++;
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hrt_call_after(&t1, update_interval, timer_expired, (void *)nullptr);
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}
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}
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int HRTTest::main()
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{
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appState.setRunning(true);
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hrt_abstime t = hrt_absolute_time();
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usleep(1000000);
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hrt_abstime elt = hrt_elapsed_time(&t);
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PX4_INFO("Elapsed time %llu in 1 sec (usleep)\n", (unsigned long long)elt);
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PX4_INFO("Start time %llu\n", (unsigned long long)t);
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t = hrt_absolute_time();
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sleep(1);
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elt = hrt_elapsed_time(&t);
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PX4_INFO("Elapsed time %llu in 1 sec (sleep)\n", (unsigned long long)elt);
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PX4_INFO("Start time %llu\n", (unsigned long long)t);
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memset(&t1, 0, sizeof(t1));
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PX4_INFO("HRT_CALL %d\n", hrt_called(&t1));
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hrt_call_after(&t1, update_interval, timer_expired, (void *)nullptr);
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sleep(2);
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PX4_INFO("HRT_CALL - %d\n", hrt_called(&t1));
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hrt_cancel(&t1);
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PX4_INFO("HRT_CALL + %d\n", hrt_called(&t1));
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return 0;
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}
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@@ -0,0 +1,54 @@
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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
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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 hrt_test.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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class HRTTest
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{
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public:
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HRTTest() {}
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~HRTTest() {}
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int main();
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static px4::AppState appState; /* track requests to terminate app */
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};
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@@ -0,0 +1,58 @@
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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
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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 hrt_test_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 "hrt_test.h"
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#include <stdio.h>
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#include <px4_middleware.h>
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#include <px4_app.h>
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int PX4_MAIN(int argc, char **argv)
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{
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px4::init(argc, argv, "hrt_test");
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printf("starting\n");
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HRTTest test;
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test.main();
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printf("goodbye\n");
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return 0;
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}
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@@ -0,0 +1,95 @@
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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
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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 hrt_test_start_posix.cpp
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*
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* @author Mark Charlebois <mcharleb@gmail.com>
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*/
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#include "hrt_test.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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#include <px4_log.h>
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#include <px4_app.h>
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#include <px4_tasks.h>
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static int daemon_task; /* Handle of deamon task / thread */
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extern "C" __EXPORT int hrt_test_main(int argc, char *argv[]);
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int hrt_test_main(int argc, char *argv[])
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{
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if (argc < 2) {
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PX4_WARN("usage: hrt_test_main {start|stop|status}\n");
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return 1;
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}
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if (!strcmp(argv[1], "start")) {
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if (HRTTest::appState.isRunning()) {
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PX4_INFO("already running\n");
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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("hrttest",
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SCHED_DEFAULT,
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SCHED_PRIORITY_MAX - 5,
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2000,
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PX4_MAIN,
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(argv) ? (char *const *)&argv[2] : (char *const *)nullptr);
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return 0;
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}
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if (!strcmp(argv[1], "stop")) {
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HRTTest::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 (HRTTest::appState.isRunning()) {
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PX4_INFO("is running\n");
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} else {
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PX4_INFO("not started\n");
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}
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return 0;
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}
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PX4_WARN("usage: hrttest_main {start|stop|status}\n");
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return 1;
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}
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