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matlab logging: Initial CSV example
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Lorenz Meier
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c4e2232078
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c4280a7cd8
246
src/examples/matlab_csv_serial/matlab_csv_serial.c
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246
src/examples/matlab_csv_serial/matlab_csv_serial.c
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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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*
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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 matlab_csv_serial_main.c
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*
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* Matlab CSV / ASCII format interface at 921600 baud, 8 data bits,
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* 1 stop bit, no parity
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*
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* @author Lorenz Meier <lm@inf.ethz.ch>
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*/
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#include <nuttx/config.h>
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#include <unistd.h>
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#include <stdlib.h>
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#include <stdio.h>
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#include <string.h>
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#include <stdbool.h>
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#include <fcntl.h>
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#include <float.h>
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#include <nuttx/sched.h>
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#include <sys/prctl.h>
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#include <drivers/drv_hrt.h>
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#include <termios.h>
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#include <errno.h>
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#include <limits.h>
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#include <math.h>
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#include <uORB/uORB.h>
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#include <drivers/drv_accel.h>
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#include <drivers/drv_gyro.h>
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#include <systemlib/perf_counter.h>
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#include <systemlib/systemlib.h>
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#include <poll.h>
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__EXPORT int matlab_csv_serial_main(int argc, char *argv[]);
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static bool thread_should_exit = false; /**< Daemon exit flag */
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static bool thread_running = false; /**< Daemon status flag */
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static int daemon_task; /**< Handle of daemon task / thread */
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int matlab_csv_serial_thread_main(int argc, char *argv[]);
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static void usage(const char *reason);
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static void usage(const char *reason)
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{
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if (reason)
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fprintf(stderr, "%s\n", reason);
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fprintf(stderr, "usage: daemon {start|stop|status} [-p <additional params>]\n\n");
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exit(1);
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}
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/**
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* The daemon app only briefly exists to start
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* the background job. The stack size assigned in the
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* Makefile does only apply to this management task.
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*
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* The actual stack size should be set in the call
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* to task_spawn_cmd().
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*/
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int matlab_csv_serial_main(int argc, char *argv[])
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{
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if (argc < 1)
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usage("missing command");
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if (!strcmp(argv[1], "start"))
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{
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if (thread_running)
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{
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printf("flow position estimator already running\n");
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/* this is not an error */
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exit(0);
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}
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thread_should_exit = false;
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daemon_task = task_spawn_cmd("matlab_csv_serial",
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SCHED_DEFAULT,
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SCHED_PRIORITY_MAX - 5,
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2000,
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matlab_csv_serial_thread_main,
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(argv) ? (const char **)&argv[2] : (const char **)NULL);
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exit(0);
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}
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if (!strcmp(argv[1], "stop"))
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{
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thread_should_exit = true;
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exit(0);
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}
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if (!strcmp(argv[1], "status"))
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{
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if (thread_running) {
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warnx("running");
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} else {
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warnx("stopped");
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}
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exit(0);
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}
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usage("unrecognized command");
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exit(1);
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}
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int matlab_csv_serial_thread_main(int argc, char *argv[])
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{
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/* welcome user */
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thread_running = true;
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if (argc < 2) {
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errx(1, "need a serial port name as argument");
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}
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int serial_fd = open(argv[1], O_RDWR | O_NOCTTY);
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unsigned speed = 921600;
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if (serial_fd < 0) {
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err(1, "failed to open port: %s", argv[1]);
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}
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/* Try to set baud rate */
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struct termios uart_config;
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int termios_state;
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bool is_usb = false;
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/* Back up the original uart configuration to restore it after exit */
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if ((termios_state = tcgetattr(_uart_fd, uart_config_original)) < 0) {
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warnx("ERR GET CONF %s: %d\n", uart_name, termios_state);
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close(_uart_fd);
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return -1;
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}
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/* Fill the struct for the new configuration */
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tcgetattr(_uart_fd, &uart_config);
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/* Clear ONLCR flag (which appends a CR for every LF) */
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uart_config.c_oflag &= ~ONLCR;
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/* USB serial is indicated by /dev/ttyACM0*/
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if (strcmp(uart_name, "/dev/ttyACM0") != OK && strcmp(uart_name, "/dev/ttyACM1") != OK) {
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/* Set baud rate */
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if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) {
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warnx("ERR SET BAUD %s: %d\n", argv[1], termios_state);
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close(serial_fd);
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return -1;
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}
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}
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if ((termios_state = tcsetattr(serial_fd, TCSANOW, &uart_config)) < 0) {
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warnx("ERR SET CONF %s\n", argv[1]);
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close(serial_fd);
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return -1;
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}
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/* subscribe to vehicle status, attitude, sensors and flow*/
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struct accel_report accel0;
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struct accel_report accel1;
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struct gyro_report gyro0;
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struct gyro_report gyro1;
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/* subscribe to parameter changes */
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int accel0_sub = orb_subscribe(ORB_ID(sensor_accel));
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int accel1_sub;
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int gyro0_sub;
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int gyro1_sub;
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while (!thread_should_exit)
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{
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/*This runs at the rate of the sensors */
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struct pollfd fds[] = {
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{ .fd = accel0_sub, .events = POLLIN },
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{ .fd = accel1_sub, .events = POLLIN },
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{ .fd = gyro0_sub, .events = POLLIN },
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{ .fd = gyro1_sub, .events = POLLIN }
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};
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/* wait for a sensor update, check for exit condition every 500 ms */
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int ret = poll(fds, sizeof(fds) / sizeof(fds[0]), 500);
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if (ret < 0)
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{
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/* poll error, count it in perf */
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perf_count(mc_err_perf);
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}
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else if (ret == 0)
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{
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/* no return value, ignore */
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warnx("no sensor data");
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}
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else
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{
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/* parameter update available? */
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if (fds[0].revents & POLLIN)
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{
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orb_copy(ORB_ID(sensor_accel), accel0_sub, &accel0);
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// write out on accel 0, but collect for all other sensors as they have updates
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vdprintf(serial_fd, "%llu,%d\n", accel0.timestamp, (int)accel0.x_raw);
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}
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}
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}
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warnx("exiting");
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thread_running = false;
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fflush(stdout);
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return 0;
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}
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41
src/examples/matlab_csv_serial/module.mk
Normal file
41
src/examples/matlab_csv_serial/module.mk
Normal file
@ -0,0 +1,41 @@
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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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#
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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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# Build position estimator
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#
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MODULE_COMMAND = matlab_csv_serial
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SRCS = matlab_csv_serial.c \
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matlab_csv_serial.c
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