muorb_test_example.cpp

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/****************************************************************************
 *
 *   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.
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 *    distribution.
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 *    used to endorse or promote products derived from this software
 *    without specific prior written permission.
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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/**
 * @file hello_example.cpp
 * Example for Linux
 *
 * @author Mark Charlebois <charlebm@gmail.com>
 */

#include "muorb_test_example.h"
#include <px4_platform_common/log.h>
#include <unistd.h>
#include <stdio.h>
#include <px4_platform_common/defines.h>
#include <uORB/Publication.hpp>
#include <uORB/PublicationQueued.hpp>
#include <uORB/Subscription.hpp>

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;

    uORB::Subscription sub_vc{ORB_ID(vehicle_command)};
    uORB::PublicationQueued<vehicle_command_s> vcmd_pub{ORB_ID(vehicle_command)};
    uORB::Publication<esc_status_s> pub_id{ORB_ID(esc_status)};
    pub_id.publish(m_esc_status);

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

        PX4_DEBUG("[%d]  Doing work...", i);

        if (!pub_id.publish(m_esc_status)) {
            PX4_ERR("[%d]Error publishing the esc status message for iter", i);
            break;
        }

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

            if (!sub_vc.copy(&m_vc)) {
                PX4_ERR("[%d]Error calling orb copy for vechivle status... ", i);
                break;
            }

            if (!vcmd_pub.publish(m_vc)) {
                PX4_ERR("[%d]Error publishing the vechile command message", i);
                break;
            }

        } else {
            PX4_ERR("[%d]Error checking the updated status for vechile command... ", i);
            PX4_DEBUG("[%d] VC topic is not updated", i);
            break;
        }

        ++i;
    }

    return 0;
}

int MuorbTestExample::PingPongTest()
{
    int i = 0;
    uORB::PublicationQueued<vehicle_command_s> vcmd_pub{ORB_ID(vehicle_command)};
    uORB::Subscription sub_esc_status{ORB_ID(esc_status)};

    while (!appState.exitRequested()) {

        PX4_INFO("[%d]  Doing work...", i);

        if (sub_esc_status.updated()) {
            PX4_INFO("[%d]ESC status is updated... reading new value", i);

            if (!sub_esc_status.copy(&m_esc_status)) {
                PX4_ERR("[%d]Error calling orb copy for esc status... ", i);
                break;
            }

            if (!vcmd_pub.publish(m_vc)) {
                PX4_ERR("[%d]Error publishing the vechile command message", i);
                break;
            }

        } else {
            PX4_INFO("[%d] esc status topic is not updated", i);
        }

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

        ++i;
    }

    return 0;
}