rpm_simulator.cpp
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/****************************************************************************
*
* Copyright (c) 2020 PX4 Development Team. All rights reserved.
* Copyright (c) 2020 ThunderFly s.r.o. 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 rpm_simulator.c
* Simple app for publishing RPM messages with custom value.
*
* Usage: rpm_simulator <rpm_value>
* rpm_simulator 344.2
*
* @author ThunderFly s.r.o., Roman Dvorak <dvorakroman@thunderfly.cz>
*/
#include <px4_platform_common/px4_config.h>
#include <drivers/drv_hrt.h>
#include <uORB/Publication.hpp>
#include <uORB/topics/rpm.h>
extern "C" __EXPORT int rpm_simulator_main(int argc, char *argv[]);
int rpm_simulator_main(int argc, char *argv[])
{
// check input
if (argc != 2) {
PX4_INFO("Usage: rpm_simulator <published RPM>");
PX4_INFO("Exit. Without publishing any message.");
return 0;
}
rpm_s rpm{};
uORB::Publication<rpm_s> rpm_pub{ORB_ID(rpm)};
uint64_t timestamp_us = hrt_absolute_time();
float frequency = atof(argv[1]);
// prpepare RPM data message
rpm.timestamp = timestamp_us;
rpm.indicated_frequency_rpm = frequency;
rpm.estimated_accurancy_rpm = frequency / 100.0f;
// Publish data and let the user know what was published
rpm_pub.publish(rpm);
print_message(rpm);
return 0;
}