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system cmd: add first iteration of the new CLI interface for tune control
This commit is contained in:
Simone Guscetti
Daniel Agar
parent
79ae413982
commit
1714deeb94
43
src/systemcmds/tune_control/CMakeLists.txt
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43
src/systemcmds/tune_control/CMakeLists.txt
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############################################################################
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#
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# Copyright (c) 2017 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in
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# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name PX4 nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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px4_add_module(
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MODULE systemcmds__tune_control
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MAIN tune_control
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STACK_MAIN 2500
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COMPILE_FLAGS
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SRCS
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tune_control.cpp
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DEPENDS
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platforms__common
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)
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# vim: set noet ft=cmake fenc=utf-8 ff=unix :
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229
src/systemcmds/tune_control/tune_control.cpp
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src/systemcmds/tune_control/tune_control.cpp
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/****************************************************************************
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*
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* Copyright (c) 2017 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file tune_control.cpp
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*
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* Command-line tool to control & test the (external) tunes.
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* To use it make sure there's a driver running, which handles the tune_control uorb topic.
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*/
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#include <px4_getopt.h>
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#include <px4_log.h>
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#include <unistd.h>
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#include <lib/tunes/tunes.h>
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#include <uORB/topics/tune_control.h>
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#include <drivers/drv_hrt.h>
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static void usage(void);
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static orb_advert_t tune_control_pub = nullptr;
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extern "C" {
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__EXPORT int tune_control_main(int argc, char *argv[]);
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}
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static void
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usage()
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{
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PX4_INFO(
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"External tune control for testing. Usage:\n"
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);
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}
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static void publish_tune_control(tune_control_s &tune_control)
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{
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tune_control.timestamp = hrt_absolute_time();
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if (tune_control_pub == nullptr) {
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tune_control_pub = orb_advertise_queue(ORB_ID(tune_control), &tune_control, 1);
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} else {
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orb_publish(ORB_ID(tune_control), tune_control_pub, &tune_control);
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}
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}
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// static void run_led_test1()
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// {
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// PX4_INFO("generating LED pattern...");
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//
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// led_control_s led_control = {};
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// led_control.led_mask = 0xff;
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// led_control.mode = led_control_s::MODE_OFF;
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// led_control.priority = led_control_s::MAX_PRIORITY;
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// publish_led_control(led_control);
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//
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// usleep(200 * 1000);
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//
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// // generate some pattern
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// for (int round = led_control_s::COLOR_RED; round <= led_control_s::COLOR_WHITE; ++round) {
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// for (int led = 0; led < BOARD_MAX_LEDS; ++led) {
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// led_control.led_mask = 1 << led;
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// led_control.mode = led_control_s::MODE_ON;
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// led_control.color = round;
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// publish_led_control(led_control);
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// usleep(80 * 1000);
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// }
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//
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// usleep(100 * 1000);
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// led_control.led_mask = 0xff;
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//
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// for (int i = 0; i < 3; ++i) {
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// led_control.mode = led_control_s::MODE_ON;
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// publish_led_control(led_control);
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// usleep(100 * 1000);
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// led_control.mode = led_control_s::MODE_OFF;
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// publish_led_control(led_control);
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// usleep(100 * 1000);
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// }
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//
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// usleep(200 * 1000);
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// }
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//
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// usleep(500 * 1000);
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//
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// // reset
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// led_control.led_mask = 0xff;
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// led_control.mode = led_control_s::MODE_DISABLED;
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// publish_led_control(led_control);
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//
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// PX4_INFO("Done");
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// }
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int
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tune_control_main(int argc, char *argv[])
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{
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output::Tunes tunes;
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int myoptind = 1;
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int ch;
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const char *myoptarg = NULL;
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uint8_t value;
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tune_control_s tune_control = {};
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tune_control.tune_id = tune_control_s::STARTUP;
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tune_control.strength = 40;
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while ((ch = px4_getopt(argc, argv, "t:", &myoptind, &myoptarg)) != EOF) {
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switch (ch) {
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case 't':
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value = (uint8_t)(strtol(myoptarg, NULL, 0));
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if (value >= 1 && value <= 15) {
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tune_control.tune_id = value;
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} else {
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usage();
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return 1;
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}
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break;
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case 'l':
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// led_control.led_mask = 1 << strtol(myoptarg, NULL, 0);
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break;
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case 'n':
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// led_control.num_blinks = strtol(myoptarg, NULL, 0);
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break;
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case 's':
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if (!strcmp(myoptarg, "fast")) {
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// blink_speed = led_control_s::MODE_BLINK_FAST;
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} else if (!strcmp(myoptarg, "normal")) {
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// blink_speed = led_control_s::MODE_BLINK_NORMAL;
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} else if (!strcmp(myoptarg, "slow")) {
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// blink_speed = led_control_s::MODE_BLINK_SLOW;
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} else {
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usage();
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return 1;
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}
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break;
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case 'p':
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// led_control.priority = strtol(myoptarg, NULL, 0);
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break;
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default:
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usage();
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return -1;
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break;
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}
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}
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// if (led_control.priority > led_control_s::MAX_PRIORITY) {
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// led_control.priority = led_control_s::MAX_PRIORITY;
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// }
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if (myoptind >= argc) {
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usage();
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return 1;
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}
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if (!strcmp(argv[myoptind], "test")) {
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PX4_INFO("Publishing standard tune %d", tune_control.tune_id);
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publish_tune_control(tune_control);
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} else if (!strcmp(argv[myoptind], "libtest")) {
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unsigned frequency, duration, silence;
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while (tunes.parse_cmd(tune_control, frequency, duration, silence) > 0) {
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PX4_INFO("frequency: %d, duration %d, silence %d", frequency, duration, silence);
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usleep(500000);
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}
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/*} else if (!strcmp(argv[myoptind], "off")) {
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led_control.mode = led_control_s::MODE_OFF;
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} else if (!strcmp(argv[myoptind], "reset")) {
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led_control.mode = led_control_s::MODE_DISABLED;
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} else if (!strcmp(argv[myoptind], "blink")) {
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led_control.mode = blink_speed;*/
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} else {
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usage();
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return 1;
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}
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// if (led_control.mode != 0xff) {
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// publish_led_control(led_control);
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// }
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return 0;
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}
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