move posix/tests/hrt_test to systemcmds/tests/hrt_test

2026-10-22 20:13:33 +08:00 · 2018-11-26 14:40:14 -08:00
parent 750e66f43b
commit fecdfe5fbc
6 changed files with 19 additions and 10 deletions
@@ -0,0 +1,95 @@
+
+/****************************************************************************
+ *
+ *   Copyright (C) 2015 Mark Charlebois. All rights reserved.
+ *
+ * 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
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file hrt_test.cpp
+ * Test High Resolution Timers in Linux
+ *
+ * @author Mark Charlebois <charlebm@gmail.com>
+ */
+
+#include "hrt_test.h"
+
+#include <drivers/drv_hrt.h>
+#include <px4_log.h>
+#include <px4_time.h>
+
+#include <unistd.h>
+#include <stdio.h>
+#include <cstring>
+
+px4::AppState HRTTest::appState;
+
+static struct hrt_call t1;
+static int update_interval = 1;
+
+static void timer_expired(void *arg)
+{
+	static int i = 0;
+	PX4_INFO("Test\n");
+
+	if (i < 5) {
+		i++;
+		hrt_call_after(&t1, update_interval, timer_expired, (void *)nullptr);
+	}
+}
+
+int HRTTest::main()
+{
+	appState.setRunning(true);
+
+	hrt_abstime t = hrt_absolute_time();
+	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);
+
+	t = hrt_absolute_time();
+	sleep(1);
+	elt = hrt_elapsed_time(&t);
+	PX4_INFO("Elapsed time %llu in 1 sec (sleep)\n", (unsigned long long)elt);
+	PX4_INFO("Start time %llu\n", (unsigned long long)t);
+
+	memset(&t1, 0, sizeof(t1));
+
+	PX4_INFO("HRT_CALL %d\n", hrt_called(&t1));
+
+	hrt_call_after(&t1, update_interval, timer_expired, (void *)nullptr);
+	sleep(2);
+	PX4_INFO("HRT_CALL - %d\n", hrt_called(&t1));
+	hrt_cancel(&t1);
+	PX4_INFO("HRT_CALL + %d\n", hrt_called(&t1));
+
+	return 0;
+}