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mixer: move MixerGroup out of Mixer hierarchy and delete mixer.h header

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This commit is contained in:
Daniel Agar
2019-11-22 15:00:25 -05:00
parent 011186b8a5
commit 79dc676c8f
36 changed files with 233 additions and 352 deletions
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src/drivers/driver_framework_wrapper/df_bebop_bus_wrapper/df_bebop_bus_wrapper.cpp
+3 -3
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@@ -56,7 +56,7 @@
#include <uORB/topics/battery_status.h>
#include <uORB/topics/esc_status.h>
#include <lib/mixer/mixer.h>
#include <lib/mixer/MixerGroup.hpp>
#include <lib/mixer/mixer_load.h>
#include <battery/battery.h>
@@ -307,7 +307,7 @@ int initialize_mixers(const char *mixers_filename)
}
if (_mixers == nullptr) {
_mixers = new MixerGroup(mixers_control_callback, (uintptr_t)_controls);
_mixers = new MixerGroup();
}
if (_mixers == nullptr) {
@@ -315,7 +315,7 @@ int initialize_mixers(const char *mixers_filename)
return -1;
} else {
int ret = _mixers->load_from_buf(buf, buflen);
int ret = _mixers->load_from_buf(mixers_control_callback, (uintptr_t)_controls, buf, buflen);
if (ret != 0) {
PX4_ERR("Unable to parse mixers file");
src/drivers/linux_pwm_out/linux_pwm_out.cpp
+3 -3
View File
@@ -51,7 +51,7 @@
#include <drivers/drv_hrt.h>
#include <drivers/drv_mixer.h>
#include <lib/mixer/mixer.h>
#include <lib/mixer/MixerGroup.hpp>
#include <lib/mixer/mixer_load.h>
#include <parameters/param.h>
#include <output_limit/output_limit.h>
@@ -155,12 +155,12 @@ int initialize_mixer(const char *mixer_filename)
unsigned buflen = sizeof(buf);
memset(buf, '\0', buflen);
_mixer_group = new MixerGroup(mixer_control_callback, (uintptr_t) &_controls);
_mixer_group = new MixerGroup();
// PX4_INFO("Trying to initialize mixer from config file %s", mixer_filename);
if (load_mixer_file(mixer_filename, buf, buflen) == 0) {
if (_mixer_group->load_from_buf(buf, buflen) == 0) {
if (_mixer_group->load_from_buf(mixer_control_callback, (uintptr_t) &_controls, buf, buflen) == 0) {
PX4_INFO("Loaded mixer from file %s", mixer_filename);
return 0;
src/drivers/mkblctrl/mkblctrl.cpp
+3 -3
View File
@@ -72,7 +72,7 @@
#include <drivers/drv_tone_alarm.h>
#include <systemlib/err.h>
#include <lib/mixer/mixer.h>
#include <lib/mixer/MixerGroup.hpp>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_outputs.h>
@@ -1045,7 +1045,7 @@ MK::pwm_ioctl(file *filp, int cmd, unsigned long arg)
unsigned buflen = strlen(buf);
if (_mixers == nullptr) {
_mixers = new MixerGroup(control_callback, (uintptr_t)&_controls);
_mixers = new MixerGroup();
}
if (_mixers == nullptr) {
@@ -1053,7 +1053,7 @@ MK::pwm_ioctl(file *filp, int cmd, unsigned long arg)
} else {
ret = _mixers->load_from_buf(buf, buflen);
ret = _mixers->load_from_buf(control_callback, (uintptr_t)&_controls, buf, buflen);
if (ret != 0) {
DEVICE_DEBUG("mixer load failed with %d", ret);
src/drivers/pwm_out_sim/PWMSim.hpp
+1 -2
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2012-2018 PX4 Development Team. All rights reserved.
* Copyright (c) 2012-2019 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
@@ -37,7 +37,6 @@
#include <drivers/drv_hrt.h>
#include <drivers/drv_mixer.h>
#include <drivers/drv_pwm_output.h>
#include <lib/mixer/mixer.h>
#include <lib/mixer_module/mixer_module.hpp>
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/module.h>
src/drivers/px4io/px4io.cpp
+2 -1
View File
@@ -70,7 +70,8 @@
#include <rc/dsm.h>
#include <lib/mathlib/mathlib.h>
#include <lib/mixer/mixer.h>
#include <lib/mixer/MixerGroup.hpp>
#include <lib/mixer/MultirotorMixer.hpp>
#include <perf/perf_counter.h>
#include <systemlib/err.h>
#include <parameters/param.h>
src/drivers/qurt/fc_addon/uart_esc/uart_esc_main.cpp
+1 -1
View File
@@ -46,7 +46,7 @@
#include <drivers/drv_hrt.h>
#include <drivers/drv_mixer.h>
#include <lib/mixer/mixer.h>
#include <lib/mixer/MixerGroup.hpp>
#include <lib/mixer/mixer_multirotor_normalized.generated.h>
#include <parameters/param.h>
src/drivers/snapdragon_pwm_out/snapdragon_pwm_out.cpp
+18 -42
View File
@@ -48,12 +48,13 @@
#include <drivers/drv_hrt.h>
#include <drivers/drv_mixer.h>
#include <mixer/mixer.h>
#include <mixer/mixer_load.h>
#include <mixer/mixer_multirotor_normalized.generated.h>
#include <parameters/param.h>
#include <perf/perf_counter.h>
#include <output_limit/output_limit.h>
#include <lib/mixer/MultirotorMixer.hpp>
#include <lib/mixer/MixerGroup.hpp>
#include <lib/mixer/mixer_load.h>
#include <lib/parameters/param.h>
#include <lib/perf/perf_counter.h>
#include <lib/output_limit/output_limit.h>
#include <dev_fs_lib_pwm.h>
/*
@@ -174,55 +175,30 @@ void update_params(Mixer::Airmode &airmode)
int initialize_mixer(const char *mixer_filename)
{
char buf[2048];
size_t buflen = sizeof(buf);
PX4_INFO("Trying to initialize mixer from config file %s", mixer_filename);
int fd_load = ::open(mixer_filename, O_RDONLY);
if (fd_load != -1) {
int nRead = ::read(fd_load, buf, buflen);
close(fd_load);
int nRead = ::read(fd_load, buf, buflen);
close(fd_load);
if (nRead > 0) {
_mixer = MultirotorMixer::from_text(mixer_control_callback, (uintptr_t)&_controls, buf, buflen);
if (nRead > 0) {
_mixer = MultirotorMixer::from_text(mixer_control_callback, (uintptr_t)&_controls, buf, buflen);
if (_mixer != nullptr) {
PX4_INFO("Successfully initialized mixer from config file");
return 0;
} else {
PX4_ERR("Unable to parse from mixer config file");
return -1;
}
if (_mixer != nullptr) {
PX4_INFO("Successfully initialized mixer from config file");
return 0;
} else {
PX4_WARN("Unable to read from mixer config file");
return -2;
}
} else {
PX4_WARN("No mixer config file found, using default mixer.");
/* Mixer file loading failed, fall back to default mixer configuration for
* QUAD_X airframe. */
float roll_scale = 1;
float pitch_scale = 1;
float yaw_scale = 1;
float deadband = 0;
_mixer = new MultirotorMixer(mixer_control_callback, (uintptr_t)&_controls,
MultirotorGeometry::QUAD_X,
roll_scale, pitch_scale, yaw_scale, deadband);
if (_mixer == nullptr) {
PX4_ERR("Unable to parse from mixer config file");
return -1;
}
return 0;
} else {
PX4_WARN("Unable to read from mixer config file");
return -2;
}
}
void subscribe()
src/drivers/tap_esc/tap_esc.cpp
+3 -4
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@@ -59,7 +59,7 @@
#include <drivers/drv_hrt.h>
#include <drivers/drv_mixer.h>
#include <mixer/mixer.h>
#include <lib/mixer/MixerGroup.hpp>
#include "tap_esc_common.h"
@@ -677,7 +677,7 @@ int TAP_ESC::ioctl(cdev::file_t *filp, int cmd, unsigned long arg)
unsigned buflen = strlen(buf);
if (_mixers == nullptr) {
_mixers = new MixerGroup(control_callback_trampoline, (uintptr_t)this);
_mixers = new MixerGroup();
}
if (_mixers == nullptr) {
@@ -685,8 +685,7 @@ int TAP_ESC::ioctl(cdev::file_t *filp, int cmd, unsigned long arg)
ret = -ENOMEM;
} else {
ret = _mixers->load_from_buf(buf, buflen);
ret = _mixers->load_from_buf(control_callback_trampoline, (uintptr_t)this, buf, buflen);
if (ret != 0) {
PX4_DEBUG("mixer load failed with %d", ret);
src/drivers/uavcan/uavcan_main.cpp
-1
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@@ -50,7 +50,6 @@
#include <fcntl.h>
#include <systemlib/err.h>
#include <parameters/param.h>
#include <lib/mixer/mixer.h>
#include <version/version.h>
#include <arch/board/board.h>
#include <arch/chip/chip.h>
src/drivers/uavcan/uavcan_servers.cpp
-1
View File
@@ -44,7 +44,6 @@
#include <mathlib/mathlib.h>
#include <systemlib/err.h>
#include <parameters/param.h>
#include <lib/mixer/mixer.h>
#include <version/version.h>
#include <arch/board/board.h>
#include <arch/chip/chip.h>
src/drivers/uavcanesc/uavcanesc_main.cpp
+1 -1
View File
@@ -43,7 +43,7 @@
#include <fcntl.h>
#include <systemlib/err.h>
#include <parameters/param.h>
#include <lib/mixer/mixer.h>
#include <lib/mixer/MixerGroup.hpp>
#include <version/version.h>
#include <arch/board/board.h>
#include <arch/chip/chip.h>
src/drivers/uavcannode/uavcannode_main.cpp
+1 -1
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@@ -46,7 +46,7 @@
#include <fcntl.h>
#include <systemlib/err.h>
#include <parameters/param.h>
#include <lib/mixer/mixer.h>
#include <lib/mixer/MixerGroup.hpp>
#include <version/version.h>
__BEGIN_DECLS
#include <nuttx/board.h>