hrt_test.cpp

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 *   Copyright (C) 2015 Mark Charlebois. All rights reserved.
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/**
 * @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_platform_common/log.h>
#include <px4_platform_common/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();
    px4_usleep(1000000);
    hrt_abstime elt = hrt_elapsed_time_atomic(&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();
    px4_sleep(1);
    elt = hrt_elapsed_time_atomic(&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);
    px4_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;
}