navio_sysfs_rc_in: move to PX4 WQ and cleanup

2026-11-02 03:01:36 +08:00 · 2020-01-09 12:08:14 -05:00
parent 793d1d7889
commit 4ac5b00a06
4 changed files with 245 additions and 176 deletions
@@ -0,0 +1,152 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2015 Mark Charlebois. All rights reserved.
+ *   Copyright (C) 2016 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.
+ *
+ ****************************************************************************/
+
+#include "NavioSysRCInput.hpp"
+
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <fcntl.h>
+
+namespace navio_sysfs_rc_in
+{
+
+#define RCINPUT_DEVICE_PATH_BASE "/sys/kernel/rcio/rcin"
+
+#define RCINPUT_MEASURE_INTERVAL_US 20000 // microseconds
+
+NavioSysRCInput::NavioSysRCInput() :
+	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::hp_default)
+{
+	_isRunning = true;
+};
+
+NavioSysRCInput::~NavioSysRCInput()
+{
+	ScheduleClear();
+
+	_isRunning = false;
+
+	for (int i = 0; i < _channels; ++i) {
+		if (_ch_fd[i] != -1) {
+			::close(_ch_fd[i]);
+		}
+	}
+}
+
+int NavioSysRCInput::navio_rc_init()
+{
+	int i;
+	char buf[64];
+
+	for (i = 0; i < _channels; ++i) {
+		::snprintf(buf, sizeof(buf), "%s/ch%d", RCINPUT_DEVICE_PATH_BASE, i);
+		int fd = ::open(buf, O_RDONLY);
+
+		if (fd < 0) {
+			PX4_WARN("error: open %d failed", i);
+			break;
+		}
+
+		_ch_fd[i] = fd;
+	}
+
+	for (; i < input_rc_s::RC_INPUT_MAX_CHANNELS; ++i) {
+		_data.values[i] = UINT16_MAX;
+	}
+
+	return 0;
+}
+
+int NavioSysRCInput::start()
+{
+	int result = navio_rc_init();
+
+	if (result != 0) {
+		PX4_WARN("error: RC initialization failed");
+		return -1;
+	}
+
+	_should_exit.store(false);
+	ScheduleOnInterval(RCINPUT_MEASURE_INTERVAL_US);
+
+	return result;
+}
+
+void NavioSysRCInput::stop()
+{
+	_should_exit.store(true);
+}
+
+void NavioSysRCInput::Run()
+{
+	if (_should_exit.load()) {
+		ScheduleClear();
+		return;
+	}
+
+	uint64_t ts = 0;
+	char buf[12] {};
+
+	for (int i = 0; i < _channels; ++i) {
+		int res;
+
+		if ((res = ::pread(_ch_fd[i], buf, sizeof(buf) - 1, 0)) < 0) {
+			_data.values[i] = UINT16_MAX;
+			continue;
+		}
+
+		ts = hrt_absolute_time();
+
+		buf[sizeof(buf) - 1] = '\0';
+
+		_data.values[i] = atoi(buf);
+	}
+
+	if (ts > 0) {
+		_data.timestamp_last_signal = ts;
+		_data.channel_count = _channels;
+		_data.rssi = 100;
+		_data.rc_lost_frame_count = 0;
+		_data.rc_total_frame_count = 1;
+		_data.rc_ppm_frame_length = 100;
+		_data.rc_failsafe = false;
+		_data.rc_lost = false;
+		_data.input_source = input_rc_s::RC_INPUT_SOURCE_PX4IO_PPM;
+		_data.timestamp = hrt_absolute_time();
+
+		_input_rc_pub.publish(_data);
+	}
+}
+
+}; // namespace navio_sysfs_rc_in