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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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delete systemcmds/motor_test and msg/test_motor.msg
This commit is contained in:
Daniel Agar
@@ -1,42 +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
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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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px4_add_module(
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MODULE systemcmds__motor_test
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MAIN motor_test
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STACK_MAIN 4096
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COMPILE_FLAGS
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SRCS
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motor_test.cpp
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DEPENDS
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)
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@@ -1,12 +0,0 @@
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menuconfig SYSTEMCMDS_MOTOR_TEST
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bool "motor_test"
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default n
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---help---
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Enable support for motor_test
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menuconfig USER_MOTOR_TEST
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bool "motor_test running as userspace module"
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default y
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depends on BOARD_PROTECTED && SYSTEMCMDS_MOTOR_TEST
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---help---
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Put motor_test in userspace memory
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@@ -1,190 +0,0 @@
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/****************************************************************************
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*
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* Copyright (C) 2014 PX4 Development Team. All rights reserved.
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* Author: Holger Steinhaus <hsteinhaus@gmx.de>
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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 motor_test.c
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*
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* Tool for drive testing
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*/
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#include <drivers/drv_hrt.h>
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#include <px4_platform_common/px4_config.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/test_motor.h>
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extern "C" __EXPORT int motor_test_main(int argc, char *argv[]);
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static void motor_test(unsigned channel, float value, uint8_t driver_instance, int timeout_ms);
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static void usage(const char *reason);
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void motor_test(unsigned channel, float value, uint8_t driver_instance, int timeout_ms)
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{
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test_motor_s test_motor{};
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test_motor.timestamp = hrt_absolute_time();
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test_motor.motor_number = channel;
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test_motor.value = value;
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test_motor.action = value >= 0.f ? test_motor_s::ACTION_RUN : test_motor_s::ACTION_STOP;
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test_motor.driver_instance = driver_instance;
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test_motor.timeout_ms = timeout_ms;
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uORB::Publication<test_motor_s> test_motor_pub{ORB_ID(test_motor)};
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test_motor_pub.publish(test_motor);
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if (test_motor.action == test_motor_s::ACTION_STOP) {
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PX4_INFO("motors stop command sent");
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} else {
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/* Adjust for 1-based motor indexing */
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PX4_INFO("motor %d set to %.2f", channel + 1, (double)value);
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}
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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 motors.
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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("motor_test", "command");
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PRINT_MODULE_USAGE_COMMAND_DESCR("test", "Set motor(s) to a specific output value");
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PRINT_MODULE_USAGE_PARAM_INT('m', -1, 1, 8, "Motor to test (1...8, all if not specified)", true);
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PRINT_MODULE_USAGE_PARAM_INT('p', 0, 0, 100, "Power (0...100)", true);
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PRINT_MODULE_USAGE_PARAM_INT('t', 0, 0, 100, "Timeout in seconds (default=no timeout)", true);
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PRINT_MODULE_USAGE_PARAM_INT('i', 0, 0, 4, "driver instance", true);
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PRINT_MODULE_USAGE_COMMAND_DESCR("stop", "Stop all motors");
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PRINT_MODULE_USAGE_COMMAND_DESCR("iterate", "Iterate all motors starting and stopping one after the other");
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}
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int motor_test_main(int argc, char *argv[])
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{
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int channel = -1; //default to all channels
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unsigned long lval;
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float value = 0.0f;
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uint8_t driver_instance = 0;
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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, "i:m:p:t:", &myoptind, &myoptarg)) != EOF) {
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switch (ch) {
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case 'i':
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driver_instance = (uint8_t)strtol(myoptarg, nullptr, 0);
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break;
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case 'm':
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/* Read in motor number and adjust for 1-based indexing */
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channel = (int)strtol(myoptarg, nullptr, 0) - 1;
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break;
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case 'p':
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/* Read in power value */
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lval = strtoul(myoptarg, nullptr, 0);
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if (lval > 100) {
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usage("value invalid");
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return 1;
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}
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value = ((float)lval) / 100.f;
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break;
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case 't':
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timeout_ms = strtol(myoptarg, nullptr, 0) * 1000;
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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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bool run_test = true;
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if (myoptind >= 0 && myoptind < argc) {
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if (strcmp("stop", argv[myoptind]) == 0) {
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channel = 0;
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value = -1.f;
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} else if (strcmp("iterate", argv[myoptind]) == 0) {
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value = 0.15f;
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for (int i = 0; i < 8; ++i) {
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motor_test(i, value, driver_instance, 0);
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px4_usleep(500000);
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motor_test(i, -1.f, driver_instance, 0);
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px4_usleep(10000);
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}
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run_test = false;
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} else if (strcmp("test", argv[myoptind]) == 0) {
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// nothing to do
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} else {
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usage(nullptr);
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return 0;
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}
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} else {
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usage(nullptr);
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return 0;
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}
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if (run_test) {
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if (channel < 0) {
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for (int i = 0; i < 8; ++i) {
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motor_test(i, value, driver_instance, timeout_ms);
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px4_usleep(10000);
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}
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} else {
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motor_test(channel, value, driver_instance, timeout_ms);
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}
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}
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return 0;
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}
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