muorb_test_example.cpp

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 *   Copyright (C) 2015 Mark Charlebois. All rights reserved.
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/**
 * @file muorb_test_example.cpp
 * Example for muorb
 *
 * @author Mark Charlebois <charlebm@gmail.com>
 */

#include "muorb_test_example.h"
#include <px4_platform_common/log.h>
#include <unistd.h>
#include <stdio.h>
#include <string.h>
#include "uORB/topics/sensor_combined.h"
#include "uORB/topics/pwm_input.h"
#include "modules/uORB/uORB.h"
#include "px4_middleware.h"
#include "px4_defines.h"
#include <stdlib.h>
#include <drivers/drv_hrt.h>

px4::AppState MuorbTestExample::appState;

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

int MuorbTestExample::DefaultTest()
{
    struct pwm_input_s pwm;
    struct sensor_combined_s sc;

    memset(&pwm, 0, sizeof(pwm_input_s));
    memset(&sc, 0, sizeof(sensor_combined_s));
    PX4_WARN("Successful after memset... ");
    orb_advert_t pub_fd = orb_advertise(ORB_ID(pwm_input), &pwm);

    if (pub_fd == nullptr) {
        PX4_WARN("Error: advertizing  pwm_input topic");
        return -1;
    }

    orb_advert_t pub_sc = orb_advertise(ORB_ID(sensor_combined), &sc);

    if (pub_sc == nullptr) {
        PX4_WARN("Error: advertizing  sensor_combined topic");
        return -1;
    }

    int i = 0;
    pwm.error_count++;
    /*sc.gyro_errcount[i]++;*/ // no member named 'gyro_errcount' in 'sensor_combined_s'

    while (!appState.exitRequested() && i < 10) {

        PX4_INFO("  Doing work...");
        orb_publish(ORB_ID(pwm_input), pub_fd, &pwm);
        orb_publish(ORB_ID(sensor_combined), pub_sc, &sc);

        usleep(1000000);
        ++i;
    }

    return 0;
}

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

    if (pub_id_esc_status == 0) {
        PX4_ERR("error publishing esc_status");
        return -1;
    }

    if (orb_publish(ORB_ID(esc_status), pub_id_esc_status, &m_esc_status) == PX4_ERROR) {
        PX4_ERR("[%d]Error publishing the esc_status 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()) {

        PX4_DEBUG("[%d]  Doing work...", i);
        bool updated = false;

        if (orb_check(sub_vc, &updated) == 0) {
            if (updated) {
                PX4_WARN("[%d]vechile command 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 vechicle... ", i);
                    break;
                }

                if (orb_publish(ORB_ID(esc_status), pub_id_esc_status, &m_esc_status) == PX4_ERROR) {
                    PX4_ERR("[%d]Error publishing the esc_status message", i);
                    break;
                }

            } else {
                PX4_WARN("[%d] vechicle command topic is not updated", i);
            }

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

        // sleep for 1 sec.
        usleep(1000000);

        ++i;
    }

    return 0;
}

int MuorbTestExample::uSleepTest()
{
    PX4_WARN("before usleep for 1 sec [%" PRIu64 "]", hrt_absolute_time());
    usleep(1000000);
    PX4_INFO("After usleep for 1 sec [%" PRIu64 "]", hrt_absolute_time());

    for (int i = 0; i < 10; ++i) {
        PX4_INFO("In While Loop: B4 Sleep for[%d] seconds [%" PRIu64 "]", i + 1, hrt_absolute_time());
        usleep((i + 1) * 1000000);
        PX4_INFO("In While Loop: After Sleep for[%d] seconds [%" PRIu64 "]", i + 1, hrt_absolute_time());
    }

    PX4_INFO("exiting sleep test...");
    return 0;
}

int MuorbTestExample::FileReadTest()
{
    int rc = OK;
    static const char TEST_FILE_PATH[] = "./test.txt";
    FILE *fp;
    char *line = NULL;
    /*size_t len = 0;
    ssize_t read;*/

    fp = fopen(TEST_FILE_PATH, "r");

    if (fp == NULL) {
        PX4_WARN("unable to open file[%s] for reading", TEST_FILE_PATH);
        rc = PX4_ERROR;

    } else {
        /*
        int i = 0;
        while( ( read = getline( &line, &len, fp ) ) != -1 )
        {
            ++i;
            PX4_INFO( "LineNum[%d] LineLength[%d]", i, len );
            PX4_INFO( "LineNum[%d] Line[%s]", i, line );
        }
        */
        PX4_INFO("Successfully opened file [%s]", TEST_FILE_PATH);
        fclose(fp);

        if (line != NULL) {
            free(line);
        }
    }

    return rc;
}