test_uart_console.c

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/**
 * @file test_uart_break.c
 * Tests the uart console.
 *
 * @author Lorenz Meier <lorenz@px4.io>
 * @author David Sidrane <david_s5@nscdg.com>
 */

#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/tasks.h>

#include <sys/types.h>

#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <fcntl.h>
#include <errno.h>

#include <arch/board/board.h>

#include "tests_main.h"

#include <math.h>
#include <float.h>
#include <drivers/drv_hrt.h>

static void *receive_loop(void *arg)
{
    int uart_usb = open("/dev/ttyACM0", O_RDONLY | O_NOCTTY);

    while (1) {
        char c;
        read(uart_usb, &c, 1);
        printf("%c", c);
        fflush(stdout);
    }

    return NULL;
}

int test_uart_console(int argc, char *argv[])
{
    /* assuming NuttShell is on UART1 (/dev/ttyS0) */
    int uart_usb = open("/dev/ttyACM0", O_WRONLY | O_NOCTTY);

    if (uart_usb < 0) {
        printf("ERROR opening /dev/ttyACM0. Do you need to run sercon first? Aborting..\n");
        return uart_usb;
    }

    uint8_t sample_uart_usb[] = {'S', 'A', 'M', 'P', 'L', 'E', ' ', '\n'};

    pthread_t receive_thread;

    pthread_create(&receive_thread, NULL, receive_loop, NULL);

    //wait for threads to complete:
    pthread_join(receive_thread, NULL);

    for (int i = 0; i < 30; i++) {
        write(uart_usb, sample_uart_usb, sizeof(sample_uart_usb));
        printf(".");
        fflush(stdout);
        px4_sleep(1);
    }

//  uint64_t start_time = hrt_absolute_time();
//
////    while (true)
//  for (int i = 0; i < 1000; i++)
//  {
//      //write(uart_usb, sample_uart_usb, sizeof(sample_uart_usb));
//      int nread = 0;
//      char c;
//      do {
//          nread = read(uart_usb, &c, 1);
//          if (nread > 0)
//          {
//              printf("%c", c);
//          }
//      } while (nread > 0);
//
//      do {
//          nread = read(uart_console, &c, 1);
//          if (nread > 0)
//          {
//              if (c == 0x03)
//              {
//                  close(uart_usb);
//                  close(uart_console);
//                  exit(OK);
//              }
//              else
//              {
//                  write(uart_usb, &c, 1);
//              }
//          }
//      } while (nread > 0);
//      usleep(10000);
//  }
//
//  int interval = hrt_absolute_time() - start_time;

    close(uart_usb);
//  close(uart_console);

    return 0;
}