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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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Mark Charlebois
8dfb09418b
QuRT does not define usleep and sleep, so they are stubbed out for now. Signed-off-by: Mark Charlebois <charlebm@gmail.com>
91 lines
2.9 KiB
C++
91 lines
2.9 KiB
C++
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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 <px4_time.h>
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#include <drivers/drv_hrt.h>
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#include "hrt_test.h"
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#include <unistd.h>
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#include <stdio.h>
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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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printf("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 *)0);
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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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printf("Elapsed time %llu in 1 sec (usleep)\n", (unsigned long long)elt);
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printf("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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printf("Elapsed time %llu in 1 sec (sleep)\n", (unsigned long long)elt);
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printf("Start time %llu\n", (unsigned long long)t);
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memset(&t1, 0, sizeof(t1));
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printf("HRT_CALL %d\n", hrt_called(&t1));
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hrt_call_after(&t1, update_interval, timer_expired, (void *)0);
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sleep(2);
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printf("HRT_CALL - %d\n", hrt_called(&t1));
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hrt_cancel(&t1);
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printf("HRT_CALL + %d\n", hrt_called(&t1));
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return 0;
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}
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