mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-15 00:53:33 +08:00
tfmini split out header and main
This commit is contained in:
Daniel Agar
@@ -1,6 +1,6 @@
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############################################################################
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#
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# Copyright (c) 2017 PX4 Development Team. All rights reserved.
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# Copyright (c) 2017-2019 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
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# modification, are permitted provided that the following conditions
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@@ -33,10 +33,10 @@
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px4_add_module(
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MODULE drivers__tfmini
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MAIN tfmini
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COMPILE_FLAGS
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-Wno-cast-align # TODO: fix and enable
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SRCS
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tfmini.cpp
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TFMINI.cpp
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TFMINI.hpp
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tfmini_main.cpp
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tfmini_parser.cpp
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MODULE_CONFIG
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module.yaml
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+2
-217
@@ -31,72 +31,7 @@
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*
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****************************************************************************/
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/**
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* @file tfmini.cpp
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* @author Lorenz Meier <lm@inf.ethz.ch>
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* @author Greg Hulands
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* @author Ayush Gaud <ayush.gaud@gmail.com>
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* @author Christoph Tobler <christoph@px4.io>
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* @author Mohammed Kabir <mhkabir@mit.edu>
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*
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* Driver for the Benewake TFmini laser rangefinder series
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*/
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#include <termios.h>
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#include <drivers/drv_hrt.h>
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#include <perf/perf_counter.h>
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#include <px4_config.h>
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#include <px4_getopt.h>
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#include <px4_module.h>
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#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
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#include <drivers/rangefinder/PX4Rangefinder.hpp>
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#include <uORB/topics/distance_sensor.h>
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#include "tfmini_parser.h"
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#define TFMINI_DEFAULT_PORT "/dev/ttyS3"
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using namespace time_literals;
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class TFMINI : public px4::ScheduledWorkItem
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{
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public:
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TFMINI(const char *port, uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING);
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virtual ~TFMINI();
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int init();
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void print_info();
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private:
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int collect();
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void Run() override;
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void start();
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void stop();
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PX4Rangefinder _px4_rangefinder;
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TFMINI_PARSE_STATE _parse_state {TFMINI_PARSE_STATE::STATE0_UNSYNC};
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char _linebuf[10] {};
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char _port[20] {};
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static constexpr int kCONVERSIONINTERVAL{9_ms};
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int _fd{-1};
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unsigned int _linebuf_index{0};
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hrt_abstime _last_read{0};
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perf_counter_t _comms_errors{perf_alloc(PC_COUNT, MODULE_NAME": com_err")};
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perf_counter_t _sample_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": read")};
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};
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#include "TFMINI.hpp"
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TFMINI::TFMINI(const char *port, uint8_t rotation) :
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ScheduledWorkItem(px4::wq_configurations::hp_default),
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@@ -127,7 +62,7 @@ TFMINI::init()
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case 1: // TFMINI (12m, 100 Hz)
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_px4_rangefinder.set_min_distance(0.3f);
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_px4_rangefinder.set_max_distance(12.0f);
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_px4_rangefinder.set_fov(math::radians(1.15));
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_px4_rangefinder.set_fov(math::radians(1.15f));
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break;
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@@ -325,153 +260,3 @@ TFMINI::print_info()
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_px4_rangefinder.print_status();
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}
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/**
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* Local functions in support of the shell command.
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*/
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namespace tfmini
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{
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TFMINI *g_dev{nullptr};
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int start(const char *port, uint8_t rotation);
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int status();
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int stop();
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int usage();
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int
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start(const char *port, uint8_t rotation)
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{
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if (g_dev != nullptr) {
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PX4_ERR("already started");
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return PX4_OK;
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}
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// Instantiate the driver.
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g_dev = new TFMINI(port, rotation);
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if (g_dev == nullptr) {
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PX4_ERR("driver start failed");
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return PX4_ERROR;
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}
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if (OK != g_dev->init()) {
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PX4_ERR("driver start failed");
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delete g_dev;
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g_dev = nullptr;
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return PX4_ERROR;
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}
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return PX4_OK;
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}
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int
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status()
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{
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if (g_dev == nullptr) {
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PX4_ERR("driver not running");
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return 1;
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}
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printf("state @ %p\n", g_dev);
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g_dev->print_info();
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return 0;
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}
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int stop()
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{
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if (g_dev != nullptr) {
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PX4_INFO("stopping driver");
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delete g_dev;
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g_dev = nullptr;
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PX4_INFO("driver stopped");
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} else {
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PX4_ERR("driver not running");
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return 1;
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}
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return PX4_OK;
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}
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int
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usage()
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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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Serial bus driver for the Benewake TFmini LiDAR.
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Most boards are configured to enable/start the driver on a specified UART using the SENS_TFMINI_CFG parameter.
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Setup/usage information: https://docs.px4.io/en/sensor/tfmini.html
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### Examples
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Attempt to start driver on a specified serial device.
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$ tfmini start -d /dev/ttyS1
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Stop driver
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$ tfmini stop
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)DESCR_STR");
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PRINT_MODULE_USAGE_NAME("tfmini", "driver");
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PRINT_MODULE_USAGE_SUBCATEGORY("distance_sensor");
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PRINT_MODULE_USAGE_COMMAND_DESCR("start","Start driver");
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PRINT_MODULE_USAGE_PARAM_STRING('d', nullptr, nullptr, "Serial device", false);
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PRINT_MODULE_USAGE_PARAM_INT('R', 25, 1, 25, "Sensor rotation - downward facing by default", true);
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PRINT_MODULE_USAGE_COMMAND_DESCR("status","Driver status");
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PRINT_MODULE_USAGE_COMMAND_DESCR("stop","Stop driver");
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PRINT_MODULE_USAGE_COMMAND_DESCR("test","Test driver (basic functional tests)");
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PRINT_MODULE_USAGE_COMMAND_DESCR("status","Print driver status");
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return PX4_OK;
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}
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} // namespace
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extern "C" __EXPORT int tfmini_main(int argc, char *argv[])
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{
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int ch = 0;
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uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING;
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const char *device_path = TFMINI_DEFAULT_PORT;
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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, "R:d:", &myoptind, &myoptarg)) != EOF) {
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switch (ch) {
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case 'R':
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rotation = (uint8_t)atoi(myoptarg);
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break;
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case 'd':
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device_path = myoptarg;
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break;
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default:
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PX4_WARN("Unknown option!");
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return PX4_ERROR;
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}
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}
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if (myoptind >= argc) {
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PX4_ERR("unrecognized command");
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return tfmini::usage();
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}
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if (!strcmp(argv[myoptind], "start")) {
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if (strcmp(device_path, "") != 0) {
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return tfmini::start(device_path, rotation);
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} else {
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PX4_WARN("Please specify device path!");
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return tfmini::usage();
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}
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} else if (!strcmp(argv[myoptind], "stop")) {
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return tfmini::stop();
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} else if (!strcmp(argv[myoptind], "status")) {
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return tfmini::status();
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}
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return tfmini::usage();
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}
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@@ -0,0 +1,100 @@
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/****************************************************************************
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*
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* Copyright (c) 2017-2019 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
|
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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 tfmini.cpp
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* @author Lorenz Meier <lm@inf.ethz.ch>
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* @author Greg Hulands
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* @author Ayush Gaud <ayush.gaud@gmail.com>
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* @author Christoph Tobler <christoph@px4.io>
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* @author Mohammed Kabir <mhkabir@mit.edu>
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*
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* Driver for the Benewake TFmini laser rangefinder series
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*/
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#pragma once
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#include <termios.h>
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#include <drivers/drv_hrt.h>
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#include <lib/perf/perf_counter.h>
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#include <px4_config.h>
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#include <px4_module.h>
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#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
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#include <lib/drivers/rangefinder/PX4Rangefinder.hpp>
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#include <uORB/topics/distance_sensor.h>
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#include "tfmini_parser.h"
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#define TFMINI_DEFAULT_PORT "/dev/ttyS3"
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using namespace time_literals;
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class TFMINI : public px4::ScheduledWorkItem
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{
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public:
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TFMINI(const char *port, uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING);
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virtual ~TFMINI();
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int init();
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void print_info();
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private:
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int collect();
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void Run() override;
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void start();
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void stop();
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PX4Rangefinder _px4_rangefinder;
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TFMINI_PARSE_STATE _parse_state {TFMINI_PARSE_STATE::STATE0_UNSYNC};
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char _linebuf[10] {};
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char _port[20] {};
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static constexpr int kCONVERSIONINTERVAL{9_ms};
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int _fd{-1};
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unsigned int _linebuf_index{0};
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hrt_abstime _last_read{0};
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perf_counter_t _comms_errors{perf_alloc(PC_COUNT, MODULE_NAME": com_err")};
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perf_counter_t _sample_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": read")};
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};
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@@ -0,0 +1,188 @@
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/****************************************************************************
|
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*
|
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* Copyright (c) 2017-2019 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
|
||||
* 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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#include "TFMINI.hpp"
|
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|
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#include <px4_getopt.h>
|
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|
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/**
|
||||
* Local functions in support of the shell command.
|
||||
*/
|
||||
namespace tfmini
|
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{
|
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|
||||
TFMINI *g_dev{nullptr};
|
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|
||||
int start(const char *port, uint8_t rotation);
|
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int status();
|
||||
int stop();
|
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int usage();
|
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|
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int
|
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start(const char *port, uint8_t rotation)
|
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{
|
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if (g_dev != nullptr) {
|
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PX4_ERR("already started");
|
||||
return PX4_OK;
|
||||
}
|
||||
|
||||
// Instantiate the driver.
|
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g_dev = new TFMINI(port, rotation);
|
||||
|
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if (g_dev == nullptr) {
|
||||
PX4_ERR("driver start failed");
|
||||
return PX4_ERROR;
|
||||
}
|
||||
|
||||
if (OK != g_dev->init()) {
|
||||
PX4_ERR("driver start failed");
|
||||
delete g_dev;
|
||||
g_dev = nullptr;
|
||||
return PX4_ERROR;
|
||||
}
|
||||
|
||||
return PX4_OK;
|
||||
}
|
||||
|
||||
int
|
||||
status()
|
||||
{
|
||||
if (g_dev == nullptr) {
|
||||
PX4_ERR("driver not running");
|
||||
return 1;
|
||||
}
|
||||
|
||||
printf("state @ %p\n", g_dev);
|
||||
g_dev->print_info();
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
int stop()
|
||||
{
|
||||
if (g_dev != nullptr) {
|
||||
PX4_INFO("stopping driver");
|
||||
delete g_dev;
|
||||
g_dev = nullptr;
|
||||
PX4_INFO("driver stopped");
|
||||
|
||||
} else {
|
||||
PX4_ERR("driver not running");
|
||||
return 1;
|
||||
}
|
||||
|
||||
return PX4_OK;
|
||||
}
|
||||
|
||||
int
|
||||
usage()
|
||||
{
|
||||
PRINT_MODULE_DESCRIPTION(
|
||||
R"DESCR_STR(
|
||||
### Description
|
||||
|
||||
Serial bus driver for the Benewake TFmini LiDAR.
|
||||
|
||||
Most boards are configured to enable/start the driver on a specified UART using the SENS_TFMINI_CFG parameter.
|
||||
|
||||
Setup/usage information: https://docs.px4.io/en/sensor/tfmini.html
|
||||
|
||||
### Examples
|
||||
|
||||
Attempt to start driver on a specified serial device.
|
||||
$ tfmini start -d /dev/ttyS1
|
||||
Stop driver
|
||||
$ tfmini stop
|
||||
)DESCR_STR");
|
||||
|
||||
PRINT_MODULE_USAGE_NAME("tfmini", "driver");
|
||||
PRINT_MODULE_USAGE_SUBCATEGORY("distance_sensor");
|
||||
PRINT_MODULE_USAGE_COMMAND_DESCR("start","Start driver");
|
||||
PRINT_MODULE_USAGE_PARAM_STRING('d', nullptr, nullptr, "Serial device", false);
|
||||
PRINT_MODULE_USAGE_PARAM_INT('R', 25, 1, 25, "Sensor rotation - downward facing by default", true);
|
||||
PRINT_MODULE_USAGE_COMMAND_DESCR("status","Driver status");
|
||||
PRINT_MODULE_USAGE_COMMAND_DESCR("stop","Stop driver");
|
||||
PRINT_MODULE_USAGE_COMMAND_DESCR("test","Test driver (basic functional tests)");
|
||||
PRINT_MODULE_USAGE_COMMAND_DESCR("status","Print driver status");
|
||||
return PX4_OK;
|
||||
}
|
||||
|
||||
} // namespace
|
||||
|
||||
extern "C" __EXPORT int tfmini_main(int argc, char *argv[])
|
||||
{
|
||||
int ch = 0;
|
||||
uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING;
|
||||
const char *device_path = TFMINI_DEFAULT_PORT;
|
||||
int myoptind = 1;
|
||||
const char *myoptarg = nullptr;
|
||||
|
||||
while ((ch = px4_getopt(argc, argv, "R:d:", &myoptind, &myoptarg)) != EOF) {
|
||||
switch (ch) {
|
||||
case 'R':
|
||||
rotation = (uint8_t)atoi(myoptarg);
|
||||
break;
|
||||
|
||||
case 'd':
|
||||
device_path = myoptarg;
|
||||
break;
|
||||
|
||||
default:
|
||||
PX4_WARN("Unknown option!");
|
||||
return PX4_ERROR;
|
||||
}
|
||||
}
|
||||
|
||||
if (myoptind >= argc) {
|
||||
PX4_ERR("unrecognized command");
|
||||
return tfmini::usage();
|
||||
}
|
||||
|
||||
if (!strcmp(argv[myoptind], "start")) {
|
||||
if (strcmp(device_path, "") != 0) {
|
||||
return tfmini::start(device_path, rotation);
|
||||
|
||||
} else {
|
||||
PX4_WARN("Please specify device path!");
|
||||
return tfmini::usage();
|
||||
}
|
||||
|
||||
} else if (!strcmp(argv[myoptind], "stop")) {
|
||||
return tfmini::stop();
|
||||
|
||||
} else if (!strcmp(argv[myoptind], "status")) {
|
||||
return tfmini::status();
|
||||
}
|
||||
|
||||
return tfmini::usage();
|
||||
}
|
||||
Reference in New Issue
Block a user