PX4-Autopilot/src/modules/muorb/test/muorb_test_example.cpp

/****************************************************************************
 *
 *   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
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 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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/**
 * @file hello_example.cpp
 * Example for Linux
 *
 * @author Mark Charlebois <charlebm@gmail.com>
 */

#include "muorb_test_example.h"
#include <px4_log.h>
#include <unistd.h>
#include <stdio.h>
#include <px4_defines.h>

px4::AppState MuorbTestExample::appState;

int MuorbTestExample::main()
{
	int rc;
	appState.setRunning(true);
	rc =  PingPongTest();
	appState.setRunning(false);
	return rc;
}

int  MuorbTestExample::DefaultTest()
{
	int i = 0;
	orb_advert_t pub_id = orb_advertise(ORB_ID(esc_status), & m_esc_status);

	if (pub_id == nullptr) {
		PX4_ERR("error publishing esc_status");
		return -1;
	}

	orb_advert_t pub_id_vc = orb_advertise(ORB_ID(vehicle_command), & m_vc);

	if (pub_id_vc == nullptr) {
		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_vc = orb_subscribe(ORB_ID(vehicle_command));

	if (sub_vc == PX4_ERROR) {
		PX4_ERR("Error subscribing to vehicle_command topic");
		return -1;
	}

	while (!appState.exitRequested() && i < 100) {

		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);
			break;
		}

		bool updated = false;

		if (orb_check(sub_vc, &updated) == 0) {
			if (updated) {
				PX4_DEBUG("[%d]Vechicle Status is updated... reading new value", i);

				if (orb_copy(ORB_ID(vehicle_command), sub_vc, &m_vc) != 0) {
					PX4_ERR("[%d]Error calling orb copy for vechivle 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_DEBUG("[%d] VC topic is not updated", i);
			}

		} else {
			PX4_ERR("[%d]Error checking the updated status for vechile command... ", i);
			break;
		}

		++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 == nullptr) {
		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;
}