#652 Moved and update API app

.travis.yml

@@ -44,9 +44,11 @@ script:
   - docker run --rm -v ${PWD}:/module bitcraze/builder ./tools/build/make clean
   - docker run --rm -v ${PWD}:/module bitcraze/builder ./tools/build/build PLATFORM=cf2 "EXTRA_CFLAGS=-DDISABLE_LIGHTHOUSE_DRIVER=0" UNIT_TEST_STYLE=min
 
+  # Build app API
+  - docker run --rm -v ${PWD}:/module bitcraze/builder bash -c "cd app_api; make"
+
   # Build examples
   - docker run --rm -v ${PWD}:/module bitcraze/builder bash -c "cd examples/app_hello_world; make"
-  - docker run --rm -v ${PWD}:/module bitcraze/builder bash -c "cd examples/app_api; make"
   - docker run --rm -v ${PWD}:/module bitcraze/builder bash -c "cd examples/app_peer_to_peer; make"
   - docker run --rm -v ${PWD}:/module bitcraze/builder bash -c "cd examples/demos/app_push_demo; make"
   - docker run --rm -v ${PWD}:/module bitcraze/builder bash -c "cd examples/demos/swarm_demo; make"

app_api/Makefile

@@ -0,0 +1,10 @@
+
+# enable app support
+APP=1
+APP_STACKSIZE=300
+
+VPATH += src/
+PROJ_OBJ += app_main.o
+
+CRAZYFLIE_BASE=..
+include $(CRAZYFLIE_BASE)/Makefile

app_api/README.md

@@ -0,0 +1,22 @@
+# API App for Crazyflie 2.X
+
+This folder contains an app layer application for the Crazyflie that is intended to document which functions that are part of the
+app API. This is not an example app with useful code, see the example directroy for examples of how to use functions.
+
+The app is built by CI servers to make sure we do not modify functions that is part of the official app API by misstake.
+Please add any new functions that should be part of the API to it.
+
+See App layer API guide [here](https://www.bitcraze.io/documentation/repository/crazyflie-firmware/master/userguides/app_layer/)
+
+## How to use the app
+
+Do NOT flash and use it! It does not do anything useful and may have unpredictable behaviour, it is only intended to be compiled but not to run.
+
+## Build
+
+Make sure that you are in the app_api folder (not the main folder of the crazyflie firmware). Then type the following to build and flash it while the crazyflie is put into bootloader mode:
+
+```
+make clean
+make
+```

app_api/src/app_main.c

@@ -0,0 +1,115 @@
+/**
+ * ,---------,       ____  _ __
+ * |  ,-^-,  |      / __ )(_) /_______________ _____  ___
+ * | (  O  ) |     / __  / / __/ ___/ ___/ __ `/_  / / _ \
+ * | / ,--´  |    / /_/ / / /_/ /__/ /  / /_/ / / /_/  __/
+ *    +------`   /_____/_/\__/\___/_/   \__,_/ /___/\___/
+ *
+ * Crazyflie control firmware
+ *
+ * Copyright (C) 2020 Bitcraze AB
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, in version 3.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ *
+ * api_app.c - App layer application that calls app API functions to make
+ *             sure they are compiled in CI.
+ */
+
+
+#include <string.h>
+#include <stdint.h>
+#include <stdbool.h>
+
+#include "app.h"
+
+#include "FreeRTOS.h"
+#include "task.h"
+
+#include "debug.h"
+
+#include "ledseq.h"
+#include "crtp_commander_high_level.h"
+#include "locodeck.h"
+#include "mem.h"
+#include "log.h"
+#include "param.h"
+
+
+#define DEBUG_MODULE "APPAPI"
+
+void appMain() {
+  // Do not run this app
+  ASSERT_FAILED();
+
+  // LED sequencer
+  {
+    ledseqContext_t ledSeqContext;
+    ledseqRegisterSequence(&ledSeqContext);
+    ledseqRun(&ledSeqContext);
+    ledseqRunBlocking(&ledSeqContext);
+    ledseqStop(&ledSeqContext);
+    ledseqStopBlocking(&ledSeqContext);
+  }
+
+  // High level commander
+  {
+    uint8_t dummyTrajectory[10];
+    crtpCommanderHighLevelTakeoff(1.0f, 1.0f);
+    crtpCommanderHighLevelTakeoffYaw(1.0f, 1.0f, 1.0f);
+    crtpCommanderHighLevelLand(0.0f, 1.0f);
+    crtpCommanderHighLevelLandYaw(0.0f, 1.0f, 1.0f);
+    crtpCommanderHighLevelStop();
+    crtpCommanderHighLevelGoTo(1.0f, 0.0f, 0.0f, 0.0f, 1.0f, false);
+    crtpCommanderHighLevelStartTrajectory(3, 1.0f, true, false);
+    crtpCommanderHighLevelDefineTrajectory(3, CRTP_CHL_TRAJECTORY_TYPE_POLY4D_COMPRESSED, 0, 17);
+    crtpCommanderHighLevelTrajectoryMemSize();
+    crtpCommanderHighLevelWriteTrajectory(20, 10, dummyTrajectory);
+    crtpCommanderHighLevelReadTrajectory(20, 10, dummyTrajectory);
+    crtpCommanderHighLevelIsTrajectoryFinished();
+  }
+
+  // LPS
+  {
+    point_t position;
+    uint8_t unorderedAnchorList[5];
+
+    locoDeckGetAnchorPosition(0, &position);
+    locoDeckGetAnchorIdList(unorderedAnchorList, 5);
+    locoDeckGetActiveAnchorIdList(unorderedAnchorList, 5);
+  }
+
+  // Memory sub system
+  {
+    static const MemoryHandlerDef_t memDef = {.type = MEM_TYPE_APP,};
+    memoryRegisterHandler(&memDef);
+  }
+
+  // Log
+  {
+    logVarId_t id = logGetVarId("some", "log");
+    logGetFloat(id);
+    logGetInt(id);
+    logGetUint(id);
+  }
+
+  // Param
+  {
+    paramVarId_t id = paramGetVarId("some", "param");
+    paramGetFloat(id);
+    paramGetInt(id);
+    paramGetUint(id);
+    paramSetInt(id, 0);
+    paramSetFloat(id, 0.0f);
+  }
+}