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/**
* @file test_rc.c
* Tests RC input.
*
*/
#include <nuttx/config.h>
#include <sys/types.h>
#include <stdio.h>
#include <poll.h>
#include <stdlib.h>
#include <unistd.h>
#include <fcntl.h>
#include <errno.h>
#include <debug.h>
#include <arch/board/board.h>
#include <drivers/drv_pwm_output.h>
#include <drivers/drv_rc_input.h>
#include <drivers/drv_hrt.h>
#include <systemlib/err.h>
#include "tests.h"
#include <math.h>
#include <float.h>
int test_rc(int argc, char *argv[])
{
int _rc_sub = orb_subscribe(ORB_ID(input_rc));
/* read low-level values from FMU or IO RC inputs (PPM, Spektrum, S.Bus) */
struct rc_input_values rc_input;
struct rc_input_values rc_last;
orb_copy(ORB_ID(input_rc), _rc_sub, &rc_input);
usleep(100000);
/* open PPM input and expect values close to the output values */
bool rc_updated;
orb_check(_rc_sub, &rc_updated);
warnx("Reading PPM values - press any key to abort");
warnx("This test guarantees: 10 Hz update rates, no glitches (channel values), no channel count changes.");
if (rc_updated) {
/* copy initial set */
for (unsigned i = 0; i < rc_input.channel_count; i++) {
rc_last.values[i] = rc_input.values[i];
}
rc_last.channel_count = rc_input.channel_count;
/* poll descriptor */
struct pollfd fds[2];
fds[0].fd = _rc_sub;
fds[0].events = POLLIN;
fds[1].fd = 0;
fds[1].events = POLLIN;
while (true) {
int ret = poll(fds, 2, 200);
if (ret > 0) {
if (fds[0].revents & POLLIN) {
orb_copy(ORB_ID(input_rc), _rc_sub, &rc_input);
/* go and check values */
for (unsigned i = 0; i < rc_input.channel_count; i++) {
if (fabsf(rc_input.values[i] - rc_last.values[i]) > 20) {
warnx("comparison fail: RC: %d, expected: %d", rc_input.values[i], rc_last.values[i]);
(void)close(_rc_sub);
return ERROR;
}
rc_last.values[i] = rc_input.values[i];
}
if (rc_last.channel_count != rc_input.channel_count) {
warnx("channel count mismatch: last: %d, now: %d", rc_last.channel_count, rc_input.channel_count);
(void)close(_rc_sub);
return ERROR;
}
if (hrt_absolute_time() - rc_input.timestamp_last_signal > 100000) {
warnx("TIMEOUT, less than 10 Hz updates");
(void)close(_rc_sub);
return ERROR;
}
} else {
/* key pressed, bye bye */
return 0;
}
}
}
} else {
warnx("failed reading RC input data");
return ERROR;
}
warnx("PPM CONTINUITY TEST PASSED SUCCESSFULLY!");
return 0;
}
