hrt_test.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.
* 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 hrt_test.cpp
* Test High Resolution Timers in Linux
*
* @author Mark Charlebois <charlebm@gmail.com>
*/
#include "hrt_test.h"
#include <drivers/drv_hrt.h>
#include <px4_platform_common/log.h>
#include <px4_platform_common/time.h>
#include <unistd.h>
#include <stdio.h>
#include <cstring>
px4::AppState HRTTest::appState;
static struct hrt_call t1;
static int update_interval = 1;
static void timer_expired(void *arg)
{
static int i = 0;
PX4_INFO("Test\n");
if (i < 5) {
i++;
hrt_call_after(&t1, update_interval, timer_expired, (void *)nullptr);
}
}
int HRTTest::main()
{
appState.setRunning(true);
hrt_abstime t = hrt_absolute_time();
px4_usleep(1000000);
hrt_abstime elt = hrt_elapsed_time_atomic(&t);
PX4_INFO("Elapsed time %llu in 1 sec (usleep)\n", (unsigned long long)elt);
PX4_INFO("Start time %llu\n", (unsigned long long)t);
t = hrt_absolute_time();
px4_sleep(1);
elt = hrt_elapsed_time_atomic(&t);
PX4_INFO("Elapsed time %llu in 1 sec (sleep)\n", (unsigned long long)elt);
PX4_INFO("Start time %llu\n", (unsigned long long)t);
memset(&t1, 0, sizeof(t1));
PX4_INFO("HRT_CALL %d\n", hrt_called(&t1));
hrt_call_after(&t1, update_interval, timer_expired, (void *)nullptr);
px4_sleep(2);
PX4_INFO("HRT_CALL - %d\n", hrt_called(&t1));
hrt_cancel(&t1);
PX4_INFO("HRT_CALL + %d\n", hrt_called(&t1));
return 0;
}