tfmini split out header and main

src/drivers/distance_sensor/tfmini/tfmini_main.cpp

@@ -0,0 +1,188 @@
+/****************************************************************************
+ *
+ *   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.
+ *
+ ****************************************************************************/
+
+#include "TFMINI.hpp"
+
+#include <px4_getopt.h>
+
+/**
+ * Local functions in support of the shell command.
+ */
+namespace tfmini
+{
+
+TFMINI	*g_dev{nullptr};
+
+int start(const char *port, uint8_t rotation);
+int status();
+int stop();
+int usage();
+
+int
+start(const char *port, uint8_t rotation)
+{
+	if (g_dev != nullptr) {
+		PX4_ERR("already started");
+		return PX4_OK;
+	}
+
+	// Instantiate the driver.
+	g_dev = new TFMINI(port, rotation);
+
+	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();
+}