fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-27 03:33:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

purge broken qurt support and atlflight boards

Browse Source
This commit is contained in:
Daniel Agar
2021-07-16 08:53:36 -04:00
parent 4a0fa08953
commit 65745a3676
116 changed files with 58 additions and 11410 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/qshell/posix/CMakeLists.txt
-42
View File
@@ -1,42 +0,0 @@
############################################################################
#
# 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.
#
############################################################################
px4_add_module(
MODULE drivers__qshell__posix
MAIN qshell
SRCS
#qshell_main.cpp
qshell_start_posix.cpp
qshell.cpp
DEPENDS
)
src/drivers/qshell/posix/qshell.cpp
-133
View File
@@ -1,133 +0,0 @@
/****************************************************************************
*
* 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.
*
****************************************************************************/
/**
* @file qshell.cpp
* Send shell commands to qurt
*
* @author Nicolas de Palezieux <ndepal@gmail.com>
*/
#include <px4_platform_common/log.h>
#include <unistd.h>
#include <stdio.h>
#include <string.h>
#include <string>
#include <stdlib.h>
#include <drivers/drv_hrt.h>
#include <uORB/topics/qshell_retval.h>
#include "qshell.h"
px4::AppState QShell::appState;
int QShell::main(std::vector<std::string> argList)
{
int ret = _send_cmd(argList);
if (ret != 0) {
PX4_ERR("Could not send command");
return -1;
}
ret = _wait_for_retval();
if (ret != 0) {
PX4_ERR("Could not get return value");
return -1;
}
return 0;
}
int QShell::_send_cmd(std::vector<std::string> &argList)
{
// Let's use a sequence number to check if a return value belongs to the
// command that we just sent and not a previous one that we assumed that
// it had timed out.
++_current_sequence;
qshell_req_s qshell_req{};
std::string cmd;
for (size_t i = 0; i < argList.size(); i++) {
cmd += argList[i];
if (i < argList.size() - 1) {
cmd += " ";
}
}
if (cmd.size() >= qshell_req.MAX_STRLEN) {
PX4_ERR("Command too long: %d >= %d", (int) cmd.size(), (int) qshell_req.MAX_STRLEN);
return -1;
}
PX4_INFO("Send cmd: '%s'", cmd.c_str());
qshell_req.strlen = cmd.size();
strcpy((char *)qshell_req.cmd, cmd.c_str());
qshell_req.request_sequence = _current_sequence;
qshell_req.timestamp = hrt_absolute_time();
_qshell_req_pub.publish(qshell_req);
return 0;
}
int QShell::_wait_for_retval()
{
const hrt_abstime time_started_us = hrt_absolute_time();
while (hrt_elapsed_time(&time_started_us) < 3000000) {
qshell_retval_s retval;
if (_qshell_retval_sub.update(&retval)) {
if (retval.return_sequence != _current_sequence) {
PX4_WARN("Ignoring return value with wrong sequence");
} else {
if (retval.return_value) {
PX4_WARN("cmd returned with: %d", retval.return_value);
}
return 0;
}
}
px4_usleep(1000);
}
PX4_ERR("command timed out");
return -1;
}
src/drivers/qshell/posix/qshell.h
-71
View File
@@ -1,71 +0,0 @@
/****************************************************************************
*
* 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.
*
****************************************************************************/
/**
* @file qshell.h
* Send shell commands to qurt
*
* @author Nicolas de Palezieux <ndepal@gmail.com>
*/
#pragma once
#include <px4_platform_common/app.h>
#include <uORB/Publication.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/topics/qshell_req.h>
#include <uORB/topics/qshell_retval.h>
#include <vector>
#include <string>
class QShell
{
public:
QShell() = default;
~QShell() = default;
int main(std::vector<std::string> argList);
static px4::AppState appState; /* track requests to terminate app */
private:
int _send_cmd(std::vector<std::string> &argList);
int _wait_for_retval();
uORB::Publication<qshell_req_s> _qshell_req_pub{ORB_ID(qshell_req)};
uORB::Subscription _qshell_retval_sub{ORB_ID(qshell_retval)};
uint32_t _current_sequence{0};
};
src/drivers/qshell/posix/qshell_start_posix.cpp
-77
View File
@@ -1,77 +0,0 @@
/****************************************************************************
*
* 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.
*
****************************************************************************/
/**
* @file qshell_start_posix.cpp
* Send shell commands to qurt
*
* @author Nicolas de Palezieux <ndepal@gmail.com>
*/
#include "qshell.h"
#include <px4_platform_common/log.h>
#include <px4_platform_common/app.h>
#include <px4_platform_common/tasks.h>
#include <stdio.h>
#include <string.h>
#include <sched.h>
#include <cstdlib>
#include <string>
#include <vector>
//using namespace px4;
extern "C" __EXPORT int qshell_main(int argc, char *argv[]);
static void usage()
{
PX4_DEBUG("usage: qshell cmd [args]");
}
int qshell_main(int argc, char *argv[])
{
if (argc < 2) {
usage();
return 1;
}
std::vector<std::string> argList;
for (int i = 1; i < argc; i++) {
argList.push_back(argv[i]);
}
QShell qshell;
return qshell.main(argList);
}