text: /****************************************************************************
   *
   *  Copyright (C) 2012-2019 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.
   *
   ****************************************************************************/
  
  /**
   * @file test_uart_break.c
   * Tests the uart console.
   *
   * @author Lorenz Meier <lorenz@px4.io>
   * @author David Sidrane <david_s5@nscdg.com>
   */
  
  #include <px4_config.h>
  #include <px4_tasks.h>
  
  #include <sys/types.h>
  
  #include <stdio.h>
  #include <stdlib.h>
  #include <unistd.h>
  #include <fcntl.h>
  #include <errno.h>
  
  #include <arch/board/board.h>
  
  #include "tests_main.h"
  
  #include <math.h>
  #include <float.h>
  #include <drivers/drv_hrt.h>
  
  static void *receive_loop(void *arg)
  {
  	int uart_usb = open("/dev/ttyACM0", O_RDONLY | O_NOCTTY);
  
  	while (1) {
  		char c;
  		read(uart_usb, &c, 1);
  		printf("%c", c);
  		fflush(stdout);
  	}
  
  	return NULL;
  }
  
  int test_uart_console(int argc, char *argv[])
  {
  	/* assuming NuttShell is on UART1 (/dev/ttyS0) */
  	int uart_usb = open("/dev/ttyACM0", O_WRONLY | O_NOCTTY);
  
  	if (uart_usb < 0) {
  		printf("ERROR opening /dev/ttyACM0. Do you need to run sercon first? Aborting..\n");
  		return uart_usb;
  	}
  
  	uint8_t sample_uart_usb[] = {'S', 'A', 'M', 'P', 'L', 'E', ' ', '\n'};
  
  	pthread_t receive_thread;
  
  	pthread_create(&receive_thread, NULL, receive_loop, NULL);
  
  	//wait for threads to complete:
  	pthread_join(receive_thread, NULL);
  
  	for (int i = 0; i < 30; i++) {
  		write(uart_usb, sample_uart_usb, sizeof(sample_uart_usb));
  		printf(".");
  		fflush(stdout);
  		px4_sleep(1);
  	}
  
  //	uint64_t start_time = hrt_absolute_time();
  //
  ////	while (true)
  //	for (int i = 0; i < 1000; i++)
  //	{
  //		//write(uart_usb, sample_uart_usb, sizeof(sample_uart_usb));
  //		int nread = 0;
  //		char c;
  //		do {
  //			nread = read(uart_usb, &c, 1);
  //			if (nread > 0)
  //			{
  //				printf("%c", c);
  //			}
  //		} while (nread > 0);
  //
  //		do {
  //			nread = read(uart_console, &c, 1);
  //			if (nread > 0)
  //			{
  //				if (c == 0x03)
  //				{
  //					close(uart_usb);
  //					close(uart_console);
  //					exit(OK);
  //				}
  //				else
  //				{
  //					write(uart_usb, &c, 1);
  //				}
  //			}
  //		} while (nread > 0);
  //		usleep(10000);
  //	}
  //
  //	int interval = hrt_absolute_time() - start_time;
  
  	close(uart_usb);
  //	close(uart_console);
  
  	return 0;
  }
  