px4_autopilot/apps/systemlib/mixer/mixer_group.cpp

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/**
 * @file mixer_group.cpp
 *
 * Mixer collection.
 */

#include <nuttx/config.h>

#include <sys/types.h>
#include <stdint.h>
#include <stdbool.h>
#include <stdlib.h>
#include <string.h>
#include <fcntl.h>
#include <poll.h>
#include <errno.h>
#include <stdio.h>
#include <math.h>
#include <unistd.h>

#include "mixer.h"

#define debug(fmt, args...)	do { } while(0)
//#define debug(fmt, args...)	do { printf("[mixer] " fmt "\n", ##args); } while(0)

MixerGroup::MixerGroup(ControlCallback control_cb, uintptr_t cb_handle) :
	Mixer(control_cb, cb_handle),
	_first(nullptr)
{
}

MixerGroup::~MixerGroup()
{
	Mixer *mixer;

	/* discard sub-mixers */
	while (_first != nullptr) {
		mixer = _first;
		_first = mixer->_next;
		delete mixer;
	}
}

void
MixerGroup::add_mixer(Mixer *mixer)
{
	Mixer **mpp;

	mpp = &_first;

	while (*mpp != nullptr)
		mpp = &((*mpp)->_next);

	*mpp = mixer;
	mixer->_next = nullptr;
}

unsigned
MixerGroup::mix(float *outputs, unsigned space)
{
	Mixer	*mixer = _first;
	unsigned index = 0;

	while ((mixer != nullptr) && (index < space)) {
		index += mixer->mix(outputs + index, space - index);
		mixer = mixer->_next;
	}

	return index;
}

void
MixerGroup::groups_required(uint32_t &groups)
{
	Mixer	*mixer = _first;

	while (mixer != nullptr) {
		mixer->groups_required(groups);
		mixer = mixer->_next;
	}
}

int
MixerGroup::load_from_buf(const char *buf, unsigned buflen)
{
	int ret = -1;
	const char *end = buf + buflen;

	/* loop until we have consumed the buffer */
	while (buflen > 0) {
		Mixer *m = nullptr;
		const char *p = end - buflen;

		/* use the next character as a hint to decide which mixer class to construct */
		switch (*p) {
			case 'Z':
				m = NullMixer::from_text(p, buflen);
				break;
			case 'M':
				m = SimpleMixer::from_text(_control_cb, _cb_handle, p, buflen);
				break;
			case 'R':
				m = MultirotorMixer::from_text(_control_cb, _cb_handle, p, buflen);
				break;
			default:
				/* it's probably junk or whitespace */
				break;
		}
		if (m != nullptr) {
			add_mixer(m);
			ret = 0;
		} else {
			/* skip whitespace or junk in the buffer */
			buflen--;
		}
	}
	return ret;
}