alexey.zholtikov/upm
1
0
Fork 0
mirror of https://github.com/eclipse/upm.git synced 2025-07-03 02:11:15 +03:00
Code Issues Actions Packages Projects Releases Wiki Activity

examples: Remove heap allocation from C++ examples

Browse Source 
Cleanup of UPM C++ examples.  Switched from heap allocation to
stack allocation when possible.  This simplifies the samples since it
removes the need for explicit memory management.  A script was used to
identify and replace pointer use.  To simplify the replace script, I
re-formatted the C++ examples using the UPM .clang-format file.
Unfortuantely this changes the look of the UPM C++ examples to a large
degree.  However, examples will now have a standard look/feel and
uniform formatting.

    * Ran clang-format w/provided UPM .clang-format file
    * Removed new's/delete's whenever possible (left those in interface
      examples)
    * Added IIO sensor library implementation of callback void* arg
    * Converted all sleeps to upm defined delays (added header when
      necessary)
    * Scrubbed CXX example includes

Signed-off-by: Noel Eck <noel.eck@intel.com>
This commit is contained in:
Noel Eck
2017-08-30 15:00:29 -07:00
committed by Mihai Tudor Panu
parent bd6e4ec786
commit 5cefe7f5f3
290 changed files with 7976 additions and 8520 deletions
Download Patch File Download Diff File Expand all files Collapse all files

71
examples/c++/smartdrive.cxx
View File

@ -4,30 +4,37 @@
* Author: Oussema Harbi <oussema.elharbi@gmail.com>
* Copyright (c) <2016> <Oussema Harbi>
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
* the Software, and to permit persons to whom the Software is furnished to do so,
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies
* of
* the Software, and to permit persons to whom the Software is furnished to do
* so,
* subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* The above copyright notice and this permission notice shall be included in
* all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS
* OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
* WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/
#include <unistd.h>
#include <iostream>
#include "smartdrive.hpp"
#include <signal.h>
#include <stdio.h>
upm::SmartDrive *drive = NULL;
#include "smartdrive.hpp"
#include "upm_utilities.h"
void
sig_handler(int signo)
@ -35,39 +42,39 @@ sig_handler(int signo)
printf("got signal\n");
if (signo == SIGINT) {
printf("exiting application\n");
if (drive != NULL)
delete drive;
exit (0);
}
}
int
main(int argc, char **argv)
main(int argc, char** argv)
{
std::cout << "SmartDrive demo is starting. Please make sure drive is connected to board" << std::endl;
sleep(2); //Wait for 2 seconds in case you want to fix your h/w setup
std::cout << "SmartDrive demo is starting. Please make sure drive is "
"connected to board"
<< std::endl;
upm_delay(2); // Wait for 2 seconds in case you want to fix your h/w setup
//! [Interesting]
// Instantiate a SmartDrive connected to /dev/i2c-0 bus, using DefaultAddress
drive = new upm::SmartDrive(0);
upm::SmartDrive drive(0);
std::cout << "Battery Voltage before motor run : " << drive->GetBattVoltage() << std::endl;
//Set motor M1 to run for 120 seconds, with speed of 15RPM, waith for it to finish and then Brake It
drive->Run_Seconds(SmartDrive_Motor_ID_1, SmartDrive_Dir_Forward, 15, 120, true, SmartDrive_Action_Brake);
std::cout << "Battery Voltage after motor run : " << drive->GetBattVoltage() << std::endl;
//Rotate motor M2 2270 degrees, in reverse sense, with speed of 10RPM, return immediately from function call
drive->Run_Degrees(SmartDrive_Motor_ID_2, SmartDrive_Dir_Reverse, 10, 2270, false, SmartDrive_Action_Float);
//While motor is running, Display its status
drive->PrintMotorStatus(SmartDrive_Motor_ID_2);
sleep(2); //Sleep for 2 seconds
//Stop motor M2 and then finish program
drive->StopMotor(SmartDrive_Motor_ID_2, SmartDrive_Action_BrakeHold);
std::cout << "Battery Voltage before motor run : " << drive.GetBattVoltage() << std::endl;
// Set motor M1 to run for 120 seconds, with speed of 15RPM, waith for it to
// finish and then Brake It
drive.Run_Seconds(
SmartDrive_Motor_ID_1, SmartDrive_Dir_Forward, 15, 120, true, SmartDrive_Action_Brake);
std::cout << "Battery Voltage after motor run : " << drive.GetBattVoltage() << std::endl;
// Rotate motor M2 2270 degrees, in reverse sense, with speed of 10RPM, return
// immediately from function call
drive.Run_Degrees(
SmartDrive_Motor_ID_2, SmartDrive_Dir_Reverse, 10, 2270, false, SmartDrive_Action_Float);
// While motor is running, Display its status
drive.PrintMotorStatus(SmartDrive_Motor_ID_2);
upm_delay(2); // Sleep for 2 seconds
// Stop motor M2 and then finish program
drive.StopMotor(SmartDrive_Motor_ID_2, SmartDrive_Action_BrakeHold);
//! [Interesting]
std::cout << "Demo complete. GoodBye" << std::endl;
delete drive;
drive = NULL;
return 0;
}