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src/platforms/posix: move to platforms/posix/src/px4/common and src/drivers/driver_framework_wrapper
This commit is contained in:
Beat Küng
@@ -0,0 +1,46 @@
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############################################################################
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#
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# Copyright (c) 2016 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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include_directories(../../../lib/DriverFramework/drivers)
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px4_add_module(
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MODULE platforms__posix__drivers__df_trone_wrapper
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MAIN df_trone_wrapper
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SRCS
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df_trone_wrapper.cpp
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DEPENDS
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git_driverframework
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df_driver_framework
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df_trone
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)
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@@ -0,0 +1,362 @@
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/****************************************************************************
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*
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* Copyright (c) 2016 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 df_trone_wrapper.cpp
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* Driver to access the TROne of the DriverFramework.
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*
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* @author Nicolas de Palezieux <ndepal@gmail.com>
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*/
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#include <px4_config.h>
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#include <sys/types.h>
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#include <sys/stat.h>
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#include <stdint.h>
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#include <stddef.h>
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#include <stdlib.h>
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#include <string.h>
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#include <math.h>
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#include <unistd.h>
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#include <px4_getopt.h>
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#include <errno.h>
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#include <string>
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#include <perf/perf_counter.h>
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#include <systemlib/err.h>
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#include <drivers/drv_range_finder.h>
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#include <drivers/drv_hrt.h>
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#include <uORB/uORB.h>
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#include <uORB/topics/distance_sensor.h>
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#include <board_config.h>
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#include <trone/TROne.hpp>
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#include <DevMgr.hpp>
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extern "C" { __EXPORT int df_trone_wrapper_main(int argc, char *argv[]); }
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using namespace DriverFramework;
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class DfTROneWrapper : public TROne
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{
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public:
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DfTROneWrapper(uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING);
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~DfTROneWrapper();
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/**
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* Start automatic measurement.
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*
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* @return 0 on success
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*/
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int start();
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/**
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* Stop automatic measurement.
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*
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* @return 0 on success
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*/
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int stop();
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private:
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int _publish(struct range_sensor_data &data);
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uint8_t _rotation;
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orb_advert_t _range_topic;
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int _orb_class_instance;
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// perf_counter_t _range_sample_perf;
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};
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DfTROneWrapper::DfTROneWrapper(uint8_t rotation) :
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TROne(TRONE_DEVICE_PATH),
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_rotation(rotation),
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_range_topic(nullptr),
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_orb_class_instance(-1)
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{
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}
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DfTROneWrapper::~DfTROneWrapper()
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{
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}
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int DfTROneWrapper::start()
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{
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int ret;
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/* Init device and start sensor. */
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ret = init();
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if (ret != 0) {
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PX4_ERR("TROne init fail: %d", ret);
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return ret;
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}
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ret = TROne::start();
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if (ret != 0) {
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PX4_ERR("TROne start fail: %d", ret);
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return ret;
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}
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return 0;
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}
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int DfTROneWrapper::stop()
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{
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/* Stop sensor. */
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int ret = TROne::stop();
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if (ret != 0) {
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PX4_ERR("TROne stop fail: %d", ret);
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return ret;
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}
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return 0;
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}
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int DfTROneWrapper::_publish(struct range_sensor_data &data)
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{
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struct distance_sensor_s d;
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memset(&d, 0, sizeof(d));
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d.timestamp = hrt_absolute_time();
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d.min_distance = float(TRONE_MIN_DISTANCE); /* m */
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d.max_distance = float(TRONE_MAX_DISTANCE); /* m */
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d.current_distance = float(data.dist);
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d.type = distance_sensor_s::MAV_DISTANCE_SENSOR_LASER;
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d.id = 0; // TODO set proper ID
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d.orientation = _rotation;
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d.variance = 0.0f;
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d.signal_quality = -1;
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if (_range_topic == nullptr) {
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_range_topic = orb_advertise_multi(ORB_ID(distance_sensor), &d,
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&_orb_class_instance, ORB_PRIO_DEFAULT);
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} else {
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orb_publish(ORB_ID(distance_sensor), _range_topic, &d);
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}
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return 0;
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};
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namespace df_trone_wrapper
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{
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DfTROneWrapper *g_dev = nullptr;
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int start(uint8_t rotation);
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int stop();
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int info();
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int probe();
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void usage();
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int start(uint8_t rotation)
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{
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PX4_ERR("start");
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g_dev = new DfTROneWrapper(rotation);
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if (g_dev == nullptr) {
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PX4_ERR("failed instantiating DfTROneWrapper object");
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return -1;
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}
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int ret = g_dev->start();
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if (ret != 0) {
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PX4_ERR("DfTROneWrapper start failed");
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return ret;
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}
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// Open the range sensor
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DevHandle h;
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DevMgr::getHandle(TRONE_DEVICE_PATH, h);
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if (!h.isValid()) {
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DF_LOG_INFO("Error: unable to obtain a valid handle for the receiver at: %s (%d)",
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TRONE_DEVICE_PATH, h.getError());
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return -1;
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}
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DevMgr::releaseHandle(h);
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return 0;
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}
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int stop()
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{
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if (g_dev == nullptr) {
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PX4_ERR("driver not running");
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return 1;
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}
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int ret = g_dev->stop();
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if (ret != 0) {
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PX4_ERR("driver could not be stopped");
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return ret;
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}
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delete g_dev;
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g_dev = nullptr;
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return 0;
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}
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/**
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* Print a little info about the driver.
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*/
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int
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info()
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{
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if (g_dev == nullptr) {
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PX4_ERR("driver not running");
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return 1;
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}
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PX4_DEBUG("state @ %p", g_dev);
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return 0;
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}
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/**
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* Who am i
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*/
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int
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probe()
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{
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int ret;
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if (g_dev == nullptr) {
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ret = start(distance_sensor_s::ROTATION_DOWNWARD_FACING);
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if (ret) {
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PX4_ERR("Failed to start");
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return ret;
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}
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}
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ret = g_dev->probe();
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if (ret) {
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PX4_ERR("Failed to probe");
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return ret;
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}
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PX4_DEBUG("state @ %p", g_dev);
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return 0;
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}
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void
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usage()
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{
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PX4_WARN("Usage: df_trone_wrapper 'start', 'info', 'stop'");
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}
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} // namespace df_trone_wrapper
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int
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df_trone_wrapper_main(int argc, char *argv[])
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{
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int ch;
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int ret = 0;
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int myoptind = 1;
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const char *myoptarg = NULL;
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uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING;
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/* jump over start/off/etc and look at options first */
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while ((ch = px4_getopt(argc, argv, "R:", &myoptind, &myoptarg)) != EOF) {
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switch (ch) {
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case 'R':
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rotation = (uint8_t)atoi(myoptarg);
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PX4_INFO("Setting distance sensor orientation to %d", (int)rotation);
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break;
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default:
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df_trone_wrapper::usage();
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return 0;
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}
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}
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if (argc <= 1) {
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df_trone_wrapper::usage();
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return 1;
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}
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const char *verb = argv[myoptind];
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if (!strcmp(verb, "start")) {
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ret = df_trone_wrapper::start(rotation);
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}
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else if (!strcmp(verb, "stop")) {
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ret = df_trone_wrapper::stop();
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}
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else if (!strcmp(verb, "info")) {
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ret = df_trone_wrapper::info();
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}
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else if (!strcmp(verb, "probe")) {
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ret = df_trone_wrapper::probe();
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}
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else {
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df_trone_wrapper::usage();
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return 1;
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}
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return ret;
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}
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