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Moved mixer file load / compression into mixer library.

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This commit is contained in:
Lorenz Meier
2013-10-12 20:17:59 +02:00
parent 4a4834c3de
commit c5b890e87d
8 changed files with 167 additions and 51 deletions
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src/modules/systemlib/mixer/mixer.cpp
+2
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@@ -50,6 +50,8 @@
#include <stdio.h>
#include <math.h>
#include <unistd.h>
#include <ctype.h>
#include <systemlib/err.h>
#include "mixer.h"
src/modules/systemlib/mixer/mixer.h
+2
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@@ -128,7 +128,9 @@
#ifndef _SYSTEMLIB_MIXER_MIXER_H
#define _SYSTEMLIB_MIXER_MIXER_H value
#include <nuttx/config.h>
#include "drivers/drv_mixer.h"
#include "mixer_load.h"
/**
* Abstract class defining a mixer mixing zero or more inputs to
src/modules/systemlib/mixer/mixer_load.c
+99
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@@ -0,0 +1,99 @@
/****************************************************************************
*
* Copyright (C) 2012 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.
*
****************************************************************************/
/**
* @file mixer_load.c
*
* Programmable multi-channel mixer library.
*/
#include <nuttx/config.h>
#include <systemlib/err.h>
#include <string.h>
#include <stdio.h>
#include <ctype.h>
#include "mixer_load.h"
int load_mixer_file(const char *fname, char *buf)
{
FILE *fp;
char line[120];
/* open the mixer definition file */
fp = fopen(fname, "r");
if (fp == NULL)
err(1, "can't open %s", fname);
/* read valid lines from the file into a buffer */
buf[0] = '\0';
for (;;) {
/* get a line, bail on error/EOF */
line[0] = '\0';
if (fgets(line, sizeof(line), fp) == NULL)
break;
/* if the line doesn't look like a mixer definition line, skip it */
if ((strlen(line) < 2) || !isupper(line[0]) || (line[1] != ':'))
continue;
/* compact whitespace in the buffer */
char *t, *f;
for (f = buf; *f != '\0'; f++) {
/* scan for space characters */
if (*f == ' ') {
/* look for additional spaces */
t = f + 1;
while (*t == ' ')
t++;
if (*t == '\0') {
/* strip trailing whitespace */
*f = '\0';
} else if (t > (f + 1)) {
memmove(f + 1, t, strlen(t) + 1);
}
}
}
/* if the line is too long to fit in the buffer, bail */
if ((strlen(line) + strlen(buf) + 1) >= sizeof(buf))
break;
/* add the line to the buffer */
strcat(buf, line);
}
return 0;
}
src/modules/systemlib/mixer/mixer_load.h
+51
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@@ -0,0 +1,51 @@
/****************************************************************************
*
* Copyright (C) 2012 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.
*
****************************************************************************/
/**
* @file mixer_load.h
*
*/
#ifndef _SYSTEMLIB_MIXER_LOAD_H
#define _SYSTEMLIB_MIXER_LOAD_H value
#include <nuttx/config.h>
__BEGIN_DECLS
__EXPORT int load_mixer_file(const char *fname, char *buf);
__END_DECLS
#endif
src/modules/systemlib/mixer/mixer_multirotor.cpp
+2 -2
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@@ -130,7 +130,7 @@ const MultirotorMixer::Rotor _config_octa_plus[] = {
{ 1.000000, 0.000000, -1.00 },
{ -1.000000, 0.000000, -1.00 },
};
const MultirotorMixer::Rotor *_config_index[MultirotorMixer::Geometry::MAX_GEOMETRY] = {
const MultirotorMixer::Rotor *_config_index[MultirotorMixer::MAX_GEOMETRY] = {
&_config_quad_x[0],
&_config_quad_plus[0],
&_config_quad_v[0],
@@ -140,7 +140,7 @@ const MultirotorMixer::Rotor *_config_index[MultirotorMixer::Geometry::MAX_GEOME
&_config_octa_x[0],
&_config_octa_plus[0],
};
const unsigned _config_rotor_count[MultirotorMixer::Geometry::MAX_GEOMETRY] = {
const unsigned _config_rotor_count[MultirotorMixer::MAX_GEOMETRY] = {
4, /* quad_x */
4, /* quad_plus */
4, /* quad_v */
src/modules/systemlib/mixer/module.mk
+2 -1
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@@ -39,4 +39,5 @@ LIBNAME = mixerlib
SRCS = mixer.cpp \
mixer_group.cpp \
mixer_multirotor.cpp \
mixer_simple.cpp
mixer_simple.cpp \
mixer_load.c
src/systemcmds/mixer/mixer.c → src/systemcmds/mixer/mixer.cpp
+8 -47
View File
@@ -47,10 +47,15 @@
#include <nuttx/compiler.h>
#include <systemlib/err.h>
#include <drivers/drv_mixer.h>
#include <systemlib/mixer/mixer.h>
#include <uORB/topics/actuator_controls.h>
__EXPORT int mixer_main(int argc, char *argv[]);
/**
* Mixer utility for loading mixer files to devices
*
* @ingroup apps
*/
extern "C" __EXPORT int mixer_main(int argc, char *argv[]);
static void usage(const char *reason) noreturn_function;
static void load(const char *devname, const char *fname) noreturn_function;
@@ -87,8 +92,6 @@ static void
load(const char *devname, const char *fname)
{
int dev;
FILE *fp;
char line[120];
char buf[2048];
/* open the device */
@@ -99,49 +102,7 @@ load(const char *devname, const char *fname)
if (ioctl(dev, MIXERIOCRESET, 0))
err(1, "can't reset mixers on %s", devname);
/* open the mixer definition file */
fp = fopen(fname, "r");
if (fp == NULL)
err(1, "can't open %s", fname);
/* read valid lines from the file into a buffer */
buf[0] = '\0';
for (;;) {
/* get a line, bail on error/EOF */
line[0] = '\0';
if (fgets(line, sizeof(line), fp) == NULL)
break;
/* if the line doesn't look like a mixer definition line, skip it */
if ((strlen(line) < 2) || !isupper(line[0]) || (line[1] != ':'))
continue;
/* compact whitespace in the buffer */
char *t, *f;
for (f = buf; *f != '\0'; f++) {
/* scan for space characters */
if (*f == ' ') {
/* look for additional spaces */
t = f + 1;
while (*t == ' ')
t++;
if (*t == '\0') {
/* strip trailing whitespace */
*f = '\0';
} else if (t > (f + 1)) {
memmove(f + 1, t, strlen(t) + 1);
}
}
}
/* if the line is too long to fit in the buffer, bail */
if ((strlen(line) + strlen(buf) + 1) >= sizeof(buf))
break;
/* add the line to the buffer */
strcat(buf, line);
}
load_mixer_file(fname, &buf[0]);
/* XXX pass the buffer to the device */
int ret = ioctl(dev, MIXERIOCLOADBUF, (unsigned long)buf);
src/systemcmds/mixer/module.mk
+1 -1
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@@ -36,7 +36,7 @@
#
MODULE_COMMAND = mixer
SRCS = mixer.c
SRCS = mixer.cpp
MODULE_STACKSIZE = 4096