systemcmds: add new command led_control

This can be used to test & control the new uorb-based led backend.

src/systemcmds/led_control/CMakeLists.txt

@@ -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__led_control
+	MAIN led_control
+	STACK_MAIN 2500
+	COMPILE_FLAGS
+	SRCS
+		led_control.cpp
+	DEPENDS
+		platforms__common
+	)
+# vim: set noet ft=cmake fenc=utf-8 ff=unix :

src/systemcmds/led_control/led_control.cpp

@@ -0,0 +1,250 @@
+/****************************************************************************
+ *
+ *   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 led_control.cpp
+ *
+ * Command-line tool to control & test the (external) LED's.
+ * To use it make sure there's a driver running, which handles the led_control uorb topic.
+ */
+
+#include <px4_getopt.h>
+#include <px4_log.h>
+
+#include <unistd.h>
+
+#include <drivers/drv_hrt.h>
+#include <drivers/drv_led.h>
+
+static void	usage(void);
+
+static orb_advert_t led_control_pub = nullptr;
+
+extern "C" {
+	__EXPORT int led_control_main(int argc, char *argv[]);
+}
+
+static void
+usage()
+{
+	PX4_INFO(
+		"External Led control for testing. Usage:\n"
+		"led_control test\t\tRun test pattern\n"
+		"led_control {on, off, reset, blink} [-c <color>] [-l <led>] [-n <num_blink>] [-s <speed>] [-p <prio>]\n"
+		"\n"
+		"\t-c <color>\t\tColor (red,blue,green,yellow,purple,amber,cyan,white) (default=white)\n"
+		"\t-l <led>\t\tWhich led to control (0,1,...) (default=all)\n"
+		"\t-n <num_blink>\t\tNumber of blinks (default=3)\n"
+		"\t-s <speed>\t\tHow fast to blink (fast,normal,slow) (default=normal)\n"
+		"\t-p <prio>\t\tControl priority (0,1,2) (default=maximum)\n"
+	);
+}
+
+static void publish_led_control(led_control_s &led_control)
+{
+	led_control.timestamp = hrt_absolute_time();
+
+	if (led_control_pub == nullptr) {
+		led_control_pub = orb_advertise_queue(ORB_ID(led_control), &led_control, LED_UORB_QUEUE_LENGTH);
+
+	} else {
+		orb_publish(ORB_ID(led_control), led_control_pub, &led_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
+led_control_main(int argc, char *argv[])
+{
+	int myoptind = 1;
+	int ch;
+	const char *myoptarg = NULL;
+	uint8_t blink_speed = led_control_s::MODE_BLINK_NORMAL;
+	led_control_s led_control = {};
+	led_control.num_blinks = 3;
+	led_control.priority = led_control_s::MAX_PRIORITY;
+	led_control.mode = 0xff;
+	led_control.led_mask = 0xff;
+	led_control.color = led_control_s::COLOR_WHITE;
+
+	while ((ch = px4_getopt(argc, argv, "c:l:n:s:p:", &myoptind, &myoptarg)) != EOF) {
+		switch (ch) {
+		case 'c':
+			if (!strcmp(myoptarg, "red")) {
+				led_control.color = led_control_s::COLOR_RED;
+
+			} else if (!strcmp(myoptarg, "blue")) {
+				led_control.color = led_control_s::COLOR_BLUE;
+
+			} else if (!strcmp(myoptarg, "green")) {
+				led_control.color = led_control_s::COLOR_GREEN;
+
+			} else if (!strcmp(myoptarg, "yellow")) {
+				led_control.color = led_control_s::COLOR_YELLOW;
+
+			} else if (!strcmp(myoptarg, "purple")) {
+				led_control.color = led_control_s::COLOR_PURPLE;
+
+			} else if (!strcmp(myoptarg, "amber")) {
+				led_control.color = led_control_s::COLOR_AMBER;
+
+			} else if (!strcmp(myoptarg, "cyan")) {
+				led_control.color = led_control_s::COLOR_CYAN;
+
+			} else if (!strcmp(myoptarg, "white")) {
+				led_control.color = led_control_s::COLOR_WHITE;
+
+			} 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")) {
+		run_led_test1();
+
+	} else if (!strcmp(argv[myoptind], "on")) {
+		led_control.mode = led_control_s::MODE_ON;
+
+	} 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;
+}