src/navigation/sensor/2.0/test/main.cpp

/*
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#include <stdint.h>
#include <errno.h>
#include <unistd.h>
#include <string.h>
#include <inttypes.h>

#include <memory>
#include <thread>
#include <functional>

#include <HfManager.h>

int main(int argc, char **argv) {
    int fd = -1;
    int sensor = 0, action = 0, delay = 0, latency = 0;

    if (argc != 5) {
        fprintf(stderr, "usage:         execute        sensor  action  delay  latency\n");
        fprintf(stderr, "       ./high_freq_sensor_tool   1       1   5000000    0\n");
        return -1;
    }

    sensor = atoi(argv[1]);
    action = atoi(argv[2]);
    delay = atoi(argv[3]);
    latency = atoi(argv[4]);

    fprintf(stderr, "command: [%d,%d,%d,%d]\n", sensor, action, delay, latency);

    std::unique_ptr<HfManager> mHfManager(new HfManager());
    fd = mHfManager->getFd();
    std::thread looperThread([fd]() {
        std::unique_ptr<HfLooper> mHfLooper(new HfLooper(fd, 64));
        while (1) {
            int err = mHfLooper->eventLooper([](sensors_event_t const * event) {
                fprintf(stderr, "data: [%d,%d,%" PRId64 ",%f,%f,%f]\n",
                    event->sensor, event->reserved0, event->timestamp,
                        event->data[0], event->data[1], event->data[2]);
            });
            switch (err) {
            case -ENODEV:
                fprintf(stderr, "looper stop nodevice error\n");
                return;
            }
        };
    });
    looperThread.detach();
    if (mHfManager->findSensor(sensor) < 0)
        return -2;
    switch (action) {
    case HF_MANAGER_SENSOR_DISABLE:
        mHfManager->disableSensor(sensor);
        break;
    case HF_MANAGER_SENSOR_ENABLE:
        mHfManager->enableSensor(sensor, delay, latency);
        break;
    case HF_MANAGER_SENSOR_ENABLE_CALI:
        mHfManager->requestFactoryCalibration(sensor, true);
        mHfManager->enableFactoryCalibration(sensor);
        break;
    case HF_MANAGER_SENSOR_RAWDATA:
        mHfManager->enableRawData(sensor);
        break;
    }
    while (1)
        sleep(1);
    return 0;
}