/****************************************************************************
 *
 *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
 *   Author:    Lorenz Meier <lm@inf.ethz.ch>
 *
 * 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.
 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in
 *    the documentation and/or other materials provided with the
 *    distribution.
 * 3. Neither the name PX4 nor the names of its contributors may be
 *    used to endorse or promote products derived from this software
 *    without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
 * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
 * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 *
 ****************************************************************************/
/**
 * @file hwtest.c
 *
 * Simple functional hardware test.
 *
 * @author Lorenz Meier <lm@inf.ethz.ch>
 */

#include <nuttx/config.h>
#include <stdio.h>
#include <systemlib/err.h>
#include <drivers/drv_hrt.h>
#include <uORB/uORB.h>
#include <uORB/topics/actuator_controls.h>

__EXPORT int ex_hwtest_main(int argc, char *argv[]);

int ex_hwtest_main(int argc, char *argv[])
{
    struct actuator_controls_s actuators;
    memset(&actuators, 0, sizeof(actuators));
    orb_advert_t actuator_pub_fd = orb_advertise(ORB_ID(actuator_controls_0), &actuators);

    int i;
    float rcvalue = -1.0f;
    hrt_abstime stime;

    while (true) {
        stime = hrt_absolute_time();
        while (hrt_absolute_time() - stime < 1000000) {
            for (i=0; i<8; i++)
                actuators.control[i] = rcvalue;
            actuators.timestamp = hrt_absolute_time(); 
            orb_publish(ORB_ID(actuator_controls_0), actuator_pub_fd, &actuators);
        }
        warnx("servos set to %.1f", rcvalue);
        rcvalue *= -1.0f;
    }

    return OK;
}