C++ print_hit_enter函数代码示例

int8_t Sub::test_optflow(uint8_t argc, const Menu::arg *argv)
{
#if OPTFLOW == ENABLED
    if(optflow.enabled()) {
        cliSerial->printf("dev id: %d\t",(int)optflow.device_id());
        print_hit_enter();

        while(1) {
            delay(200);
            optflow.update();
            const Vector2f& flowRate = optflow.flowRate();
            cliSerial->printf("flowX : %7.4f\t flowY : %7.4f\t flow qual : %d\n",
                            (double)flowRate.x,
                            (double)flowRate.y,
                            (int)optflow.quality());

            if(cliSerial->available() > 0) {
                return (0);
            }
        }
    } else {
        cliSerial->printf("OptFlow: ");
        print_enabled(false);
    }
    return (0);
#else
    return (0);
#endif      // OPTFLOW == ENABLED
}

int8_t Rover::test_radio(uint8_t argc, const Menu::arg *argv)
{
	print_hit_enter();
	delay(1000);

	// read the radio to set trims
	// ---------------------------
	trim_radio();

	while(1){
		delay(20);
		read_radio();

		channel_steer->calc_pwm();
		channel_throttle->calc_pwm();

		// write out the servo PWM values
		// ------------------------------
		set_servos();

		cliSerial->printf("IN 1: %d\t2: %d\t3: %d\t4: %d\t5: %d\t6: %d\t7: %d\t8: %d\n",
							channel_steer->get_control_in(),
							g.rc_2.get_control_in(),
							channel_throttle->get_control_in(),
							g.rc_4.get_control_in(),
							g.rc_5.get_control_in(),
							g.rc_6.get_control_in(),
							g.rc_7.get_control_in(),
							g.rc_8.get_control_in());

		if(cliSerial->available() > 0){
			return (0);
		}
	}
}

/*
 *  test the rangefinders
 */
int8_t Sub::test_rangefinder(uint8_t argc, const Menu::arg *argv)
{
#if RANGEFINDER_ENABLED == ENABLED
    rangefinder.init();

    cliSerial->printf("RangeFinder: %d devices detected\n", rangefinder.num_sensors());

    print_hit_enter();
    while (1) {
        hal.scheduler->delay(100);
        rangefinder.update();

        for (uint8_t i=0; i<rangefinder.num_sensors(); i++) {
            cliSerial->printf("Dev%d: status %d distance_cm %d\n",
                    (int)i,
                    (int)rangefinder.status(i),
                    (int)rangefinder.distance_cm(i));
        }

        if (cliSerial->available() > 0) {
            return (0);
        }
    }
#endif
    return (0);
}

int8_t Plane::test_radio_pwm(uint8_t argc, const Menu::arg *argv)
{
    print_hit_enter();
    hal.scheduler->delay(1000);

    while(1) {
        hal.scheduler->delay(20);

        // Filters radio input - adjust filters in the radio.pde file
        // ----------------------------------------------------------
        read_radio();

        cliSerial->printf_P(PSTR("IN:\t1: %d\t2: %d\t3: %d\t4: %d\t5: %d\t6: %d\t7: %d\t8: %d\n"),
                        (int)channel_roll->radio_in,
                        (int)channel_pitch->radio_in,
                        (int)channel_throttle->radio_in,
                        (int)channel_rudder->radio_in,
                        (int)g.rc_5.radio_in,
                        (int)g.rc_6.radio_in,
                        (int)g.rc_7.radio_in,
                        (int)g.rc_8.radio_in);

        if(cliSerial->available() > 0) {
            return (0);
        }
    }
}

int8_t Plane::test_airspeed(uint8_t argc, const Menu::arg *argv)
{
    if (!airspeed.enabled()) {
        cliSerial->printf_P(PSTR("airspeed: "));
        print_enabled(false);
        return (0);
    }else{
        print_hit_enter();
        zero_airspeed(false);
        cliSerial->printf_P(PSTR("airspeed: "));
        print_enabled(true);

        while(1) {
            hal.scheduler->delay(20);
            read_airspeed();
            cliSerial->printf_P(PSTR("%.1f m/s\n"), (double)airspeed.get_airspeed());

            if(cliSerial->available() > 0) {
                return (0);
            }
        }
    }
}

int8_t Sub::test_compass(uint8_t argc, const Menu::arg *argv)
{
    uint8_t delta_ms_fast_loop;
    uint8_t medium_loopCounter = 0;

    if (!g.compass_enabled) {
        cliSerial->printf("Compass: ");
        print_enabled(false);
        return (0);
    }

    if (!compass.init()) {
        cliSerial->println("Compass initialisation failed!");
        return 0;
    }

    ahrs.init();
    ahrs.set_fly_forward(true);
    ahrs.set_compass(&compass);
#if OPTFLOW == ENABLED
    ahrs.set_optflow(&optflow);
#endif
    report_compass();

    // we need the AHRS initialised for this test
    ins.init(scheduler.get_loop_rate_hz());
    ahrs.reset();
    int16_t counter = 0;
    float heading = 0;

    print_hit_enter();

    while(1) {
        delay(20);
        if (millis() - fast_loopTimer > 19) {
            delta_ms_fast_loop      = millis() - fast_loopTimer;
            G_Dt                    = (float)delta_ms_fast_loop / 1000.0f;                       // used by DCM integrator
            fast_loopTimer          = millis();

            // INS
            // ---
            ahrs.update();

            medium_loopCounter++;
            if(medium_loopCounter == 5) {
                if (compass.read()) {
                    // Calculate heading
                    const Matrix3f &m = ahrs.get_rotation_body_to_ned();
                    heading = compass.calculate_heading(m);
                    compass.learn_offsets();
                }
                medium_loopCounter = 0;
            }

            counter++;
            if (counter>20) {
                if (compass.healthy()) {
                    const Vector3f &mag_ofs = compass.get_offsets();
                    const Vector3f &mag = compass.get_field();
                    cliSerial->printf("Heading: %d, XYZ: %.0f, %.0f, %.0f,\tXYZoff: %6.2f, %6.2f, %6.2f\n",
                                      (int)(wrap_360_cd(ToDeg(heading) * 100)) /100,
                                        (double)mag.x,
                                        (double)mag.y,
                                        (double)mag.z,
                                        (double)mag_ofs.x,
                                        (double)mag_ofs.y,
                                        (double)mag_ofs.z);
                } else {
                    cliSerial->println("compass not healthy");
                }
                counter=0;
            }
        }
        if (cliSerial->available() > 0) {
            break;
        }
    }

    // save offsets. This allows you to get sane offset values using
    // the CLI before you go flying.
    cliSerial->println("saving offsets");
    compass.save_offsets();
    return (0);
}

int8_t Rover::test_sonar(uint8_t argc, const Menu::arg *argv)
{
    init_sonar();
    delay(20);
    sonar.update();

    if (sonar.status() == RangeFinder::RangeFinder_NotConnected) {
        cliSerial->println("WARNING: Sonar is not enabled");
    }

    print_hit_enter();
    
    float sonar_dist_cm_min = 0.0f;
    float sonar_dist_cm_max = 0.0f;
    float voltage_min=0.0f, voltage_max = 0.0f;
    float sonar2_dist_cm_min = 0.0f;
    float sonar2_dist_cm_max = 0.0f;
    float voltage2_min=0.0f, voltage2_max = 0.0f;
    uint32_t last_print = 0;

	while (true) {
        delay(20);
        sonar.update();
        uint32_t now = millis();
    
        float dist_cm = sonar.distance_cm(0);
        float voltage = sonar.voltage_mv(0);
        if (is_zero(sonar_dist_cm_min)) {
            sonar_dist_cm_min = dist_cm;
            voltage_min = voltage;
        }
        sonar_dist_cm_max = MAX(sonar_dist_cm_max, dist_cm);
        sonar_dist_cm_min = MIN(sonar_dist_cm_min, dist_cm);
        voltage_min = MIN(voltage_min, voltage);
        voltage_max = MAX(voltage_max, voltage);

        dist_cm = sonar.distance_cm(1);
        voltage = sonar.voltage_mv(1);
        if (is_zero(sonar2_dist_cm_min)) {
            sonar2_dist_cm_min = dist_cm;
            voltage2_min = voltage;
        }
        sonar2_dist_cm_max = MAX(sonar2_dist_cm_max, dist_cm);
        sonar2_dist_cm_min = MIN(sonar2_dist_cm_min, dist_cm);
        voltage2_min = MIN(voltage2_min, voltage);
        voltage2_max = MAX(voltage2_max, voltage);

        if (now - last_print >= 200) {
            cliSerial->printf("sonar1 dist=%.1f:%.1fcm volt1=%.2f:%.2f   sonar2 dist=%.1f:%.1fcm volt2=%.2f:%.2f\n",
                                (double)sonar_dist_cm_min,
                                (double)sonar_dist_cm_max,
                                (double)voltage_min,
                                (double)voltage_max,
                                (double)sonar2_dist_cm_min,
                                (double)sonar2_dist_cm_max,
                                (double)voltage2_min,
                                (double)voltage2_max);
            voltage_min = voltage_max = 0.0f;
            voltage2_min = voltage2_max = 0.0f;
            sonar_dist_cm_min = sonar_dist_cm_max = 0.0f;
            sonar2_dist_cm_min = sonar2_dist_cm_max = 0.0f;
            last_print = now;
        }
        if (cliSerial->available() > 0) {
            break;
	    }
    }
    return (0);
}

int8_t Rover::test_mag(uint8_t argc, const Menu::arg *argv)
{
	if (!g.compass_enabled) {
        cliSerial->print("Compass: ");
		print_enabled(false);
		return (0);
    }

    if (!compass.init()) {
        cliSerial->println("Compass initialisation failed!");
        return 0;
    }
    ahrs.init();
    ahrs.set_fly_forward(true);
    ahrs.set_compass(&compass);

    // we need the AHRS initialised for this test
    ins.init(scheduler.get_loop_rate_hz());
    ahrs.reset();

	int counter = 0;
    float heading = 0;

    print_hit_enter();

    uint8_t medium_loopCounter = 0;

    while(1) {
        ins.wait_for_sample();
        ahrs.update();

        medium_loopCounter++;
        if(medium_loopCounter >= 5){
            if (compass.read()) {
                // Calculate heading
                Matrix3f m = ahrs.get_rotation_body_to_ned();
                heading = compass.calculate_heading(m);
                compass.learn_offsets();
            }
            medium_loopCounter = 0;
        }
        
        counter++;
        if (counter>20) {
            if (compass.healthy()) {
                const Vector3f mag_ofs = compass.get_offsets();
                const Vector3f mag = compass.get_field();
                cliSerial->printf("Heading: %f, XYZ: %.0f, %.0f, %.0f,\tXYZoff: %6.2f, %6.2f, %6.2f\n",
                                    (double)(wrap_360_cd(ToDeg(heading) * 100)) /100,
                                    (double)mag.x, (double)mag.y, (double)mag.z,
                                    (double)mag_ofs.x, (double)mag_ofs.y, (double)mag_ofs.z);
            } else {
                cliSerial->println("compass not healthy");
            }
            counter=0;
        }
        if (cliSerial->available() > 0) {
            break;
        }
    }

    // save offsets. This allows you to get sane offset values using
    // the CLI before you go flying.    
    cliSerial->println("saving offsets");
    compass.save_offsets();
    return (0);
}