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/****************************************************************************
*
* Copyright (C) 2012 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 delay_test.c
*
* Simple but effective delay test using leds and a scope to measure
* communication delays end-to-end accurately.
*
* @author Lorenz Meier <lm@inf.ethz.ch>
*/
#include <nuttx/config.h>
#include <unistd.h>
#include <stdlib.h>
#include <stdio.h>
#include <fcntl.h>
#include <errno.h>
#include <poll.h>
#include <string.h>
#include <systemlib/err.h>
#include <drivers/drv_led.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_tone_alarm.h>
#include <uORB/topics/vehicle_vicon_position.h>
#include <uORB/topics/vehicle_command.h>
__EXPORT int delay_test_main(int argc, char *argv[]);
static int led_on(int leds, int led);
static int led_off(int leds, int led);
int delay_test_main(int argc, char *argv[])
{
bool vicon_msg = false;
bool command_msg = false;
if (argc > 1 && !strcmp(argv[1], "--help")) {
warnx("usage: delay_test [vicon] [command]\n");
exit(1);
}
if (argc > 1 && !strcmp(argv[1], "vicon")) {
vicon_msg = true;
}
if (argc > 1 && !strcmp(argv[1], "command")) {
command_msg = true;
}
int buzzer = open("/dev/tone_alarm", O_WRONLY);
int leds = open(LED_DEVICE_PATH, 0);
/* prepare use of amber led */
led_off(leds, LED_AMBER);
int topic;
/* subscribe to topic */
if (vicon_msg) {
topic = orb_subscribe(ORB_ID(vehicle_vicon_position));
} else if (command_msg) {
topic = orb_subscribe(ORB_ID(vehicle_command));
} else {
errx(1, "No topic selected for delay test, use --help for a list of topics.");
}
const int testcount = 20;
warnx("running %d iterations..\n", testcount);
struct pollfd fds[1];
fds[0].fd = topic;
fds[0].events = POLLIN;
/* display and sound error */
for (int i = 0; i < testcount; i++)
{
/* wait for topic */
int ret = poll(&fds[0], 1, 2000);
/* this would be bad... */
if (ret < 0) {
warnx("poll error %d", errno);
usleep(1000000);
continue;
}
/* do we have a topic update? */
if (fds[0].revents & POLLIN) {
/* copy object to disable poll ready state */
if (vicon_msg) {
struct vehicle_vicon_position_s vicon_position;
orb_copy(ORB_ID(vehicle_vicon_position), topic, &vicon_position);
} else if (command_msg) {
struct vehicle_command_s vehicle_command;
orb_copy(ORB_ID(vehicle_command), topic, &vehicle_command);
}
led_on(leds, LED_AMBER);
ioctl(buzzer, TONE_SET_ALARM, 4);
/* keep led on for 50 ms to make it barely visible */
usleep(50000);
led_off(leds, LED_AMBER);
}
}
/* stop alarm */
ioctl(buzzer, TONE_SET_ALARM, 0);
/* switch on leds */
led_on(leds, LED_BLUE);
led_on(leds, LED_AMBER);
exit(0);
}
static int led_off(int leds, int led)
{
return ioctl(leds, LED_OFF, led);
}
static int led_on(int leds, int led)
{
return ioctl(leds, LED_ON, led);
}
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