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mixer_module: add testing for SYS_CTRL_ALLOC=1 with actuator_test cmd+uorb msg
This commit is contained in:
Beat Küng
@@ -0,0 +1,194 @@
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/****************************************************************************
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*
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* Copyright (C) 2021 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 actuator_test.cpp
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*
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* CLI to publish the actuator_test msg
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*/
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#include <drivers/drv_hrt.h>
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#include <px4_platform_common/getopt.h>
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#include <px4_platform_common/log.h>
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#include <px4_platform_common/module.h>
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#include <uORB/Publication.hpp>
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#include <uORB/topics/actuator_test.h>
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#include <math.h>
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extern "C" __EXPORT int actuator_test_main(int argc, char *argv[]);
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static void actuator_test(int function, float value, int timeout_ms, bool release_control);
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static void usage(const char *reason);
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void actuator_test(int function, float value, int timeout_ms, bool release_control)
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{
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actuator_test_s actuator_test{};
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actuator_test.timestamp = hrt_absolute_time();
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actuator_test.function = function;
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actuator_test.value = value;
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actuator_test.action = release_control ? actuator_test_s::ACTION_RELEASE_CONTROL : actuator_test_s::ACTION_DO_CONTROL;
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actuator_test.timeout_ms = timeout_ms;
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uORB::Publication<actuator_test_s> actuator_test_pub{ORB_ID(actuator_test)};
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actuator_test_pub.publish(actuator_test);
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}
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static void usage(const char *reason)
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{
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if (reason != nullptr) {
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PX4_WARN("%s", reason);
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}
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PRINT_MODULE_DESCRIPTION(
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R"DESCR_STR(
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Utility to test actuators.
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Note: this is only used in combination with SYS_CTRL_ALLOC=1.
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WARNING: remove all props before using this command.
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)DESCR_STR");
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PRINT_MODULE_USAGE_NAME("actuator_test", "command");
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PRINT_MODULE_USAGE_COMMAND_DESCR("set", "Set an actuator to a specific output value");
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PRINT_MODULE_USAGE_PARAM_COMMENT("The actuator can be specified by motor, servo or function directly:");
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PRINT_MODULE_USAGE_PARAM_INT('m', -1, 1, 8, "Motor to test (1...8)", true);
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PRINT_MODULE_USAGE_PARAM_INT('s', -1, 1, 8, "Servo to test (1...8)", true);
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PRINT_MODULE_USAGE_PARAM_INT('f', -1, 1, 8, "Specify function directly", true);
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PRINT_MODULE_USAGE_PARAM_INT('v', 0, 0, 100, "value (-1...1)", false);
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PRINT_MODULE_USAGE_PARAM_INT('t', 0, 0, 100, "Timeout in seconds (run interactive if not set)", true);
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PRINT_MODULE_USAGE_COMMAND_DESCR("iterate-motors", "Iterate all motors starting and stopping one after the other");
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PRINT_MODULE_USAGE_COMMAND_DESCR("iterate-servos", "Iterate all servos deflecting one after the other");
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}
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int actuator_test_main(int argc, char *argv[])
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{
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int function = 0;
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float value = 10.0f;
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int ch;
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int timeout_ms = 0;
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int myoptind = 1;
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const char *myoptarg = nullptr;
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while ((ch = px4_getopt(argc, argv, "m:s:f:v:t:", &myoptind, &myoptarg)) != EOF) {
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switch (ch) {
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case 'm':
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function = actuator_test_s::FUNCTION_MOTOR1 + (int)strtol(myoptarg, nullptr, 0) - 1;
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break;
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case 's':
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function = actuator_test_s::FUNCTION_SERVO1 + (int)strtol(myoptarg, nullptr, 0) - 1;
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break;
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case 'f':
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function = (int)strtol(myoptarg, nullptr, 0);
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break;
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case 'v':
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value = strtof(myoptarg, nullptr);
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if (value < -1.f || value > 1.f) {
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usage("value invalid");
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return 1;
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}
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break;
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case 't':
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timeout_ms = strtof(myoptarg, nullptr) * 1000.f;
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break;
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default:
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usage(nullptr);
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return 1;
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}
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}
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if (myoptind >= 0 && myoptind < argc) {
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if (strcmp("set", argv[myoptind]) == 0) {
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if (value > 9.f) {
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usage("Missing argument: value");
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return 1;
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}
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if (function == 0) {
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usage("Missing argument: function");
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return 1;
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}
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if (timeout_ms == 0) {
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// interactive
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actuator_test(function, value, 0, false);
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/* stop on any user request */
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PX4_INFO("Press Enter to stop");
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char c;
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ssize_t ret = read(0, &c, 1);
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if (ret < 0) {
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PX4_ERR("read failed: %i", errno);
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}
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actuator_test(function, NAN, 0, true);
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} else {
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actuator_test(function, value, timeout_ms, false);
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}
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return 0;
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} else if (strcmp("iterate-motors", argv[myoptind]) == 0) {
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value = 0.15f;
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for (int i = 0; i < actuator_test_s::MAX_NUM_MOTORS; ++i) {
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PX4_INFO("Motor %i (%.0f%%)", i, (double)(value*100.f));
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actuator_test(actuator_test_s::FUNCTION_MOTOR1+i, value, 400, false);
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px4_usleep(600000);
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}
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return 0;
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} else if (strcmp("iterate-servos", argv[myoptind]) == 0) {
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value = 0.3f;
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for (int i = 0; i < actuator_test_s::MAX_NUM_SERVOS; ++i) {
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PX4_INFO("Servo %i (%.0f%%)", i, (double)(value*100.f));
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actuator_test(actuator_test_s::FUNCTION_SERVO1+i, value, 800, false);
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px4_usleep(1000000);
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}
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return 0;
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}
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}
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usage(nullptr);
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return 0;
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}
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