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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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delete systemcmds/mixer
This commit is contained in:
Daniel Agar
@@ -530,8 +530,6 @@ IIC communication is based on CDev::I2C
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It is typically started with:
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$ pca9685_pwm_out start -a 64 -b 1
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Use the `mixer` command to load mixer files.
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`mixer load /dev/pwm_outputX etc/mixers/quad_x.main.mix`
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The number X can be acquired by executing
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`pca9685_pwm_out status` when this driver is running.
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)DESCR_STR");
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@@ -1,44 +0,0 @@
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############################################################################
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#
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# Copyright (c) 2015 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
|
||||
# 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.
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#
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############################################################################
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px4_add_module(
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MODULE systemcmds__mixer
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MAIN mixer
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STACK_MAIN 4096
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STACK_MAX 2100
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COMPILE_FLAGS
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SRCS
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mixer.cpp
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DEPENDS
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mixer
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)
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@@ -1,12 +0,0 @@
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menuconfig SYSTEMCMDS_MIXER
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bool "mixer"
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default n
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---help---
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Enable support for mixer
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menuconfig USER_MIXER
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bool "mixer running as userspace module"
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default y
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depends on BOARD_PROTECTED && SYSTEMCMDS_MIXER
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---help---
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Put mixer in userspace memory
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@@ -1,170 +0,0 @@
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/****************************************************************************
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*
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* Copyright (C) 2012 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
|
||||
* 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.
|
||||
*
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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
|
||||
* 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.
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||||
*
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****************************************************************************/
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/**
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* @file mixer.cpp
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*
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* Mixer utility.
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*/
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#include <px4_platform_common/px4_config.h>
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#include <px4_platform_common/module.h>
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#include <px4_platform_common/posix.h>
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#include <string.h>
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#include <stdlib.h>
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#include <stdio.h>
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#include <unistd.h>
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#include <fcntl.h>
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#include <errno.h>
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#include <ctype.h>
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#include <drivers/drv_mixer.h>
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#include <lib/mixer/MixerGroup.hpp>
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#include <lib/mixer/mixer_load.h>
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#include <uORB/topics/actuator_controls.h>
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/**
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* Mixer utility for loading mixer files to devices
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*
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* @ingroup apps
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*/
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extern "C" __EXPORT int mixer_main(int argc, char *argv[]);
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static void usage(const char *reason);
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static int load(const char *devname, const char *fname, bool append);
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int
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mixer_main(int argc, char *argv[])
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{
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if (argc < 2) {
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usage("missing command");
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return 1;
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}
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if (!strcmp(argv[1], "load")) {
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if (argc < 4) {
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usage("missing device or filename");
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return 1;
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}
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int ret = load(argv[2], argv[3], false);
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if (ret != 0) {
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PX4_ERR("failed to load mixer");
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return 1;
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}
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} else if (!strcmp(argv[1], "append")) {
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if (argc < 4) {
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usage("missing device or filename");
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return 1;
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}
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int ret = load(argv[2], argv[3], true);
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if (ret != 0) {
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PX4_ERR("failed to append mixer");
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return 1;
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}
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} else {
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usage("Unknown command");
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return 1;
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}
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return 0;
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}
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static void
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usage(const char *reason)
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{
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if (reason && *reason) {
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PX4_INFO("%s", reason);
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}
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PRINT_MODULE_DESCRIPTION(
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R"DESCR_STR(
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### Description
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Load or append mixer files to the ESC driver.
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Note that the driver must support the used ioctl's, which is the case on NuttX, but for example not on RPi.
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)DESCR_STR");
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PRINT_MODULE_USAGE_NAME("mixer", "command");
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PRINT_MODULE_USAGE_COMMAND("load");
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PRINT_MODULE_USAGE_ARG("<file:dev> <file>", "Output device (eg. /dev/pwm_output0) and mixer file", false);
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PRINT_MODULE_USAGE_COMMAND("append");
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PRINT_MODULE_USAGE_ARG("<file:dev> <file>", "Output device (eg. /dev/pwm_output0) and mixer file", false);
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}
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static int
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load(const char *devname, const char *fname, bool append)
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{
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// sleep a while to ensure device has been set up
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px4_usleep(20000);
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int dev;
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/* open the device */
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if ((dev = px4_open(devname, 0)) < 0) {
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PX4_ERR("can't open %s\n", devname);
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return 1;
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}
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/* reset mixers on the device, but not if appending */
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if (!append) {
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if (px4_ioctl(dev, MIXERIOCRESET, 0)) {
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PX4_ERR("can't reset mixers on %s", devname);
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return 1;
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}
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}
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char buf[2048];
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if (load_mixer_file(fname, &buf[0], sizeof(buf)) < 0) {
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PX4_ERR("can't load mixer file: %s", fname);
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return 1;
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}
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/* Pass the buffer to the device */
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int ret = px4_ioctl(dev, MIXERIOCLOADBUF, (unsigned long)buf);
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if (ret < 0) {
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PX4_ERR("failed to load mixers from %s", fname);
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return 1;
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}
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return 0;
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}
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@@ -50,7 +50,6 @@ set(srcs
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test_IntrusiveSortedList.cpp
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test_mathlib.cpp
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test_matrix.cpp
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test_mixer.cpp
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test_param.c
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test_parameters.cpp
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test_perf.c
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@@ -1,359 +0,0 @@
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/****************************************************************************
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*
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* Copyright (C) 2013-2019 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
|
||||
* 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.
|
||||
*
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****************************************************************************/
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/**
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* @file test_mixer.cpp
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* Mixer load test
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*/
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#include <dirent.h>
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#include <stdlib.h>
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#include <string.h>
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#include <unistd.h>
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#include <math.h>
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#include <px4_platform_common/px4_config.h>
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#include <lib/mixer/MixerGroup.hpp>
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#include <lib/mixer/mixer_load.h>
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#include <drivers/drv_hrt.h>
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#include <drivers/drv_pwm_output.h>
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#include <px4iofirmware/protocol.h>
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#include <uORB/topics/actuator_controls.h>
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#include "tests_main.h"
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#include <unit_test.h>
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static int mixer_callback(uintptr_t handle,
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uint8_t control_group,
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uint8_t control_index,
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float &control);
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static const unsigned output_max = 8;
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static float actuator_controls[output_max];
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static bool should_prearm = false;
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#ifdef __PX4_DARWIN
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#define MIXER_DIFFERENCE_THRESHOLD 30
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#else
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#define MIXER_DIFFERENCE_THRESHOLD 2
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#endif
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||||
|
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#ifndef PATH_MAX
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#ifdef __PX4_NUTTX
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#define PATH_MAX 512
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#else
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#define PATH_MAX 4096
|
||||
#endif
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||||
#endif
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#if defined(CONFIG_ARCH_BOARD_PX4_SITL)
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#define MIXER_PATH(_file) "etc/mixers/"#_file
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#define MIXER_ONBOARD_PATH "etc/mixers"
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#else
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#define MIXER_ONBOARD_PATH "/etc/mixers"
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#define MIXER_PATH(_file) MIXER_ONBOARD_PATH"/"#_file
|
||||
#endif
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||||
|
||||
|
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#define MIXER_VERBOSE
|
||||
|
||||
class MixerTest : public UnitTest
|
||||
{
|
||||
public:
|
||||
virtual bool run_tests();
|
||||
MixerTest() = default;
|
||||
|
||||
private:
|
||||
bool loadIOPass();
|
||||
bool loadVTOL1Test();
|
||||
bool loadVTOL2Test();
|
||||
bool loadQuadTest();
|
||||
bool loadComplexTest();
|
||||
bool loadAllTest();
|
||||
bool load_mixer(const char *filename, unsigned expected_count, bool verbose = false);
|
||||
bool load_mixer(const char *filename, const char *buf, unsigned loaded, unsigned expected_count,
|
||||
const unsigned chunk_size, bool verbose);
|
||||
|
||||
MixerGroup mixer_group;
|
||||
};
|
||||
|
||||
bool MixerTest::run_tests()
|
||||
{
|
||||
ut_run_test(loadIOPass);
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||||
ut_run_test(loadQuadTest);
|
||||
ut_run_test(loadVTOL1Test);
|
||||
ut_run_test(loadVTOL2Test);
|
||||
ut_run_test(loadComplexTest);
|
||||
ut_run_test(loadAllTest);
|
||||
|
||||
return (_tests_failed == 0);
|
||||
}
|
||||
|
||||
ut_declare_test_c(test_mixer, MixerTest)
|
||||
|
||||
bool MixerTest::loadIOPass()
|
||||
{
|
||||
return load_mixer(MIXER_PATH(IO_pass.mix), 8);
|
||||
}
|
||||
|
||||
bool MixerTest::loadQuadTest()
|
||||
{
|
||||
return load_mixer(MIXER_PATH(quad_test.mix), 5);
|
||||
}
|
||||
|
||||
bool MixerTest::loadVTOL1Test()
|
||||
{
|
||||
return load_mixer(MIXER_PATH(vtol1_test.mix), 4);
|
||||
}
|
||||
|
||||
bool MixerTest::loadVTOL2Test()
|
||||
{
|
||||
return load_mixer(MIXER_PATH(vtol2_test.mix), 6);
|
||||
}
|
||||
|
||||
bool MixerTest::loadComplexTest()
|
||||
{
|
||||
return load_mixer(MIXER_PATH(complex_test.mix), 8);
|
||||
}
|
||||
|
||||
bool MixerTest::loadAllTest()
|
||||
{
|
||||
PX4_INFO("Testing all mixers in %s", MIXER_ONBOARD_PATH);
|
||||
|
||||
DIR *dp = opendir(MIXER_ONBOARD_PATH);
|
||||
|
||||
if (dp == nullptr) {
|
||||
PX4_ERR("File open failed");
|
||||
return false;
|
||||
}
|
||||
|
||||
struct dirent *result = nullptr;
|
||||
|
||||
for (;;) {
|
||||
errno = 0;
|
||||
result = readdir(dp);
|
||||
|
||||
// read the directory entry
|
||||
if (result == nullptr) {
|
||||
if (errno) {
|
||||
PX4_ERR("readdir failed");
|
||||
closedir(dp);
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
// We are just at the last directory entry
|
||||
break;
|
||||
}
|
||||
|
||||
// Determine the directory entry type
|
||||
switch (result->d_type) {
|
||||
#ifdef __PX4_NUTTX
|
||||
|
||||
case DTYPE_FILE:
|
||||
#else
|
||||
case DT_REG:
|
||||
#endif
|
||||
if (strncmp(result->d_name, ".", 1) != 0) {
|
||||
|
||||
char buf[PATH_MAX];
|
||||
|
||||
if (snprintf(buf, PATH_MAX, "%s/%s", MIXER_ONBOARD_PATH, result->d_name) >= PATH_MAX) {
|
||||
PX4_ERR("mixer path too long %s", result->d_name);
|
||||
closedir(dp);
|
||||
return false;
|
||||
}
|
||||
|
||||
bool ret = load_mixer(buf, 0);
|
||||
|
||||
if (!ret) {
|
||||
PX4_ERR("Error testing mixer %s", buf);
|
||||
closedir(dp);
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
break;
|
||||
|
||||
default:
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
closedir(dp);
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
bool MixerTest::load_mixer(const char *filename, unsigned expected_count, bool verbose)
|
||||
{
|
||||
char buf[2048];
|
||||
|
||||
load_mixer_file(filename, &buf[0], sizeof(buf));
|
||||
unsigned loaded = strlen(buf);
|
||||
|
||||
if (verbose) {
|
||||
PX4_INFO("loaded: \n\"%s\"\n (file: %s, %d chars)", &buf[0], filename, loaded);
|
||||
}
|
||||
|
||||
// Test a number of chunk sizes
|
||||
for (unsigned chunk_size = 6; chunk_size < PX4IO_MAX_TRANSFER_LEN + 1; chunk_size++) {
|
||||
bool ret = load_mixer(filename, buf, loaded, expected_count, chunk_size, verbose);
|
||||
|
||||
if (!ret) {
|
||||
PX4_ERR("Mixer load failed with chunk size %u", chunk_size);
|
||||
return ret;
|
||||
}
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
bool MixerTest::load_mixer(const char *filename, const char *buf, unsigned loaded, unsigned expected_count,
|
||||
const unsigned chunk_size, bool verbose)
|
||||
{
|
||||
/* load the mixer in chunks, like
|
||||
* in the case of a remote load,
|
||||
* e.g. on PX4IO.
|
||||
*/
|
||||
|
||||
/* load at once test */
|
||||
unsigned xx = loaded;
|
||||
mixer_group.reset();
|
||||
mixer_group.load_from_buf(mixer_callback, 0, &buf[0], xx);
|
||||
|
||||
if (expected_count > 0) {
|
||||
ut_compare("check number of mixers loaded", mixer_group.count(), expected_count);
|
||||
}
|
||||
|
||||
unsigned empty_load = 2;
|
||||
char empty_buf[2];
|
||||
empty_buf[0] = ' ';
|
||||
empty_buf[1] = '\0';
|
||||
mixer_group.reset();
|
||||
mixer_group.load_from_buf(mixer_callback, 0, &empty_buf[0], empty_load);
|
||||
|
||||
if (verbose) {
|
||||
PX4_INFO("empty buffer load: loaded %u mixers, used: %u", mixer_group.count(), empty_load);
|
||||
}
|
||||
|
||||
ut_compare("empty buffer load", empty_load, 0);
|
||||
|
||||
/* reset, load in chunks */
|
||||
mixer_group.reset();
|
||||
char mixer_text[330]; /* large enough for one mixer */
|
||||
|
||||
unsigned mixer_text_length = 0;
|
||||
unsigned transmitted = 0;
|
||||
unsigned resid = 0;
|
||||
|
||||
while (transmitted < loaded) {
|
||||
|
||||
unsigned text_length = (loaded - transmitted > chunk_size) ? chunk_size : loaded - transmitted;
|
||||
|
||||
/* check for overflow - this would be really fatal */
|
||||
if ((mixer_text_length + text_length + 1) > sizeof(mixer_text)) {
|
||||
PX4_ERR("Mixer text length overflow for file: %s. Is PX4IO_MAX_MIXER_LENGTH too small? (curr len: %d)", filename,
|
||||
330);
|
||||
return false;
|
||||
}
|
||||
|
||||
/* append mixer text and nul-terminate */
|
||||
memcpy(&mixer_text[mixer_text_length], &buf[transmitted], text_length);
|
||||
mixer_text_length += text_length;
|
||||
mixer_text[mixer_text_length] = '\0';
|
||||
//fprintf(stderr, "buflen %u, text:\n\"%s\"\n", mixer_text_length, &mixer_text[0]);
|
||||
|
||||
/* process the text buffer, adding new mixers as their descriptions can be parsed */
|
||||
resid = mixer_text_length;
|
||||
mixer_group.load_from_buf(mixer_callback, 0, &mixer_text[0], resid);
|
||||
|
||||
/* if anything was parsed */
|
||||
if (resid != mixer_text_length) {
|
||||
//PX4_INFO("loaded %d mixers, used %u\n", mixer_group.count(), mixer_text_length - resid);
|
||||
|
||||
/* copy any leftover text to the base of the buffer for re-use */
|
||||
if (resid > 0) {
|
||||
memmove(&mixer_text[0], &mixer_text[mixer_text_length - resid], resid);
|
||||
/* enforce null termination */
|
||||
mixer_text[resid] = '\0';
|
||||
}
|
||||
|
||||
mixer_text_length = resid;
|
||||
}
|
||||
|
||||
transmitted += text_length;
|
||||
|
||||
if (verbose) {
|
||||
PX4_INFO("transmitted: %d, loaded: %d", transmitted, loaded);
|
||||
}
|
||||
}
|
||||
|
||||
if (verbose) {
|
||||
PX4_INFO("chunked load: loaded %u mixers", mixer_group.count());
|
||||
}
|
||||
|
||||
if (expected_count > 0 && mixer_group.count() != expected_count) {
|
||||
PX4_ERR("Load of mixer failed, last chunk: %s, transmitted: %u, text length: %u, resid: %u", mixer_text, transmitted,
|
||||
mixer_text_length, resid);
|
||||
ut_compare("check number of mixers loaded (chunk)", mixer_group.count(), expected_count);
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
static int
|
||||
mixer_callback(uintptr_t handle, uint8_t control_group, uint8_t control_index, float &control)
|
||||
{
|
||||
control = 0.0f;
|
||||
|
||||
if (control_group != 0) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
if (control_index >= (sizeof(actuator_controls) / sizeof(actuator_controls[0]))) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
control = actuator_controls[control_index];
|
||||
|
||||
if (should_prearm && control_group == actuator_controls_s::GROUP_INDEX_ATTITUDE &&
|
||||
control_index == actuator_controls_s::INDEX_THROTTLE) {
|
||||
control = NAN;
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
@@ -93,7 +93,6 @@ const struct {
|
||||
{"List", test_List, 0},
|
||||
{"mathlib", test_mathlib, 0},
|
||||
{"matrix", test_matrix, 0},
|
||||
{"mixer", test_mixer, OPT_NOJIGTEST},
|
||||
{"param", test_param, 0},
|
||||
{"parameters", test_parameters, 0},
|
||||
{"perf", test_perf, OPT_NOJIGTEST},
|
||||
|
||||
@@ -61,7 +61,6 @@ extern int test_IntrusiveSortedList(int argc, char *argv[]);
|
||||
extern int test_List(int argc, char *argv[]);
|
||||
extern int test_mathlib(int argc, char *argv[]);
|
||||
extern int test_matrix(int argc, char *argv[]);
|
||||
extern int test_mixer(int argc, char *argv[]);
|
||||
extern int test_mount(int argc, char *argv[]);
|
||||
extern int test_param(int argc, char *argv[]);
|
||||
extern int test_parameters(int argc, char *argv[]);
|
||||
|
||||
Reference in New Issue
Block a user