zrzk
/
px4_autopilot
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

system cmd: add first iteration of the new CLI interface for tune control

sbg
Simone Guscetti 8 years ago committed by Daniel Agar
parent
79ae413982
commit
1714deeb94
2 changed files with 272 additions and 0 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Unified View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 43
      src/systemcmds/tune_control/CMakeLists.txt
  2. 229
      src/systemcmds/tune_control/tune_control.cpp

43
src/systemcmds/tune_control/CMakeLists.txt
Unescape View File

@ -0,0 +1,43 @@
############################################################################
#
# Copyright (c) 2017 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
px4_add_module(
MODULE systemcmds__tune_control
MAIN tune_control
STACK_MAIN 2500
COMPILE_FLAGS
SRCS
tune_control.cpp
DEPENDS
platforms__common
)
# vim: set noet ft=cmake fenc=utf-8 ff=unix :

229
src/systemcmds/tune_control/tune_control.cpp
Unescape View File

@ -0,0 +1,229 @@
/****************************************************************************
*
* Copyright (c) 2017 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file tune_control.cpp
*
* Command-line tool to control & test the (external) tunes.
* To use it make sure there's a driver running, which handles the tune_control uorb topic.
*/
#include <px4_getopt.h>
#include <px4_log.h>
#include <unistd.h>
#include <lib/tunes/tunes.h>
#include <uORB/topics/tune_control.h>
#include <drivers/drv_hrt.h>
static void usage(void);
static orb_advert_t tune_control_pub = nullptr;
extern "C" {
__EXPORT int tune_control_main(int argc, char *argv[]);
}
static void
usage()
{
PX4_INFO(
"External tune control for testing. Usage:\n"
);
}
static void publish_tune_control(tune_control_s &tune_control)
{
tune_control.timestamp = hrt_absolute_time();
if (tune_control_pub == nullptr) {
tune_control_pub = orb_advertise_queue(ORB_ID(tune_control), &tune_control, 1);
} else {
orb_publish(ORB_ID(tune_control), tune_control_pub, &tune_control);
}
}
// static void run_led_test1()
// {
// PX4_INFO("generating LED pattern...");
//
// led_control_s led_control = {};
// led_control.led_mask = 0xff;
// led_control.mode = led_control_s::MODE_OFF;
// led_control.priority = led_control_s::MAX_PRIORITY;
// publish_led_control(led_control);
//
// usleep(200 * 1000);
//
// // generate some pattern
// for (int round = led_control_s::COLOR_RED; round <= led_control_s::COLOR_WHITE; ++round) {
// for (int led = 0; led < BOARD_MAX_LEDS; ++led) {
// led_control.led_mask = 1 << led;
// led_control.mode = led_control_s::MODE_ON;
// led_control.color = round;
// publish_led_control(led_control);
// usleep(80 * 1000);
// }
//
// usleep(100 * 1000);
// led_control.led_mask = 0xff;
//
// for (int i = 0; i < 3; ++i) {
// led_control.mode = led_control_s::MODE_ON;
// publish_led_control(led_control);
// usleep(100 * 1000);
// led_control.mode = led_control_s::MODE_OFF;
// publish_led_control(led_control);
// usleep(100 * 1000);
// }
//
// usleep(200 * 1000);
// }
//
// usleep(500 * 1000);
//
// // reset
// led_control.led_mask = 0xff;
// led_control.mode = led_control_s::MODE_DISABLED;
// publish_led_control(led_control);
//
// PX4_INFO("Done");
// }
int
tune_control_main(int argc, char *argv[])
{
output::Tunes tunes;
int myoptind = 1;
int ch;
const char *myoptarg = NULL;
uint8_t value;
tune_control_s tune_control = {};
tune_control.tune_id = tune_control_s::STARTUP;
tune_control.strength = 40;
while ((ch = px4_getopt(argc, argv, "t:", &myoptind, &myoptarg)) != EOF) {
switch (ch) {
case 't':
value = (uint8_t)(strtol(myoptarg, NULL, 0));
if (value >= 1 && value <= 15) {
tune_control.tune_id = value;
} else {
usage();
return 1;
}
break;
case 'l':
// led_control.led_mask = 1 << strtol(myoptarg, NULL, 0);
break;
case 'n':
// led_control.num_blinks = strtol(myoptarg, NULL, 0);
break;
case 's':
if (!strcmp(myoptarg, "fast")) {
// blink_speed = led_control_s::MODE_BLINK_FAST;
} else if (!strcmp(myoptarg, "normal")) {
// blink_speed = led_control_s::MODE_BLINK_NORMAL;
} else if (!strcmp(myoptarg, "slow")) {
// blink_speed = led_control_s::MODE_BLINK_SLOW;
} else {
usage();
return 1;
}
break;
case 'p':
// led_control.priority = strtol(myoptarg, NULL, 0);
break;
default:
usage();
return -1;
break;
}
}
// if (led_control.priority > led_control_s::MAX_PRIORITY) {
// led_control.priority = led_control_s::MAX_PRIORITY;
// }
if (myoptind >= argc) {
usage();
return 1;
}
if (!strcmp(argv[myoptind], "test")) {
PX4_INFO("Publishing standard tune %d", tune_control.tune_id);
publish_tune_control(tune_control);
} else if (!strcmp(argv[myoptind], "libtest")) {
unsigned frequency, duration, silence;
while (tunes.parse_cmd(tune_control, frequency, duration, silence) > 0) {
PX4_INFO("frequency: %d, duration %d, silence %d", frequency, duration, silence);
usleep(500000);
}
/*} else if (!strcmp(argv[myoptind], "off")) {
led_control.mode = led_control_s::MODE_OFF;
} else if (!strcmp(argv[myoptind], "reset")) {
led_control.mode = led_control_s::MODE_DISABLED;
} else if (!strcmp(argv[myoptind], "blink")) {
led_control.mode = blink_speed;*/
} else {
usage();
return 1;
}
// if (led_control.mode != 0xff) {
// publish_led_control(led_control);
// }
return 0;
}
Write Preview
Loading…
Cancel
Save