Deleted old cruft

apps/systemcmds/delay_test/Makefile

-############################################################################
-#
-#   Copyright (C) 2012 PX4 Development Team. 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.
-#
-############################################################################
-
-#
-# Delay test
-#
-
-APPNAME		 = delay_test
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 2048
-
-include $(APPDIR)/mk/app.mk
-
-MAXOPTIMIZATION	 = -Os

apps/systemcmds/delay_test/delay_test.c

-/****************************************************************************
- *
- *   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);
-}
\ No newline at end of file