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Re-enabling code to handle DF framework

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Updated to latest DriverFramework and changed ioctl args to
unsigned int from void *.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois
2015-11-16 13:51:39 -08:00
parent 40b488d693
commit dbe3b0e52b
7 changed files with 75 additions and 44 deletions
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src/modules/commander/state_machine_helper.cpp
+43 -21
View File
@@ -467,33 +467,55 @@ transition_result_t hil_state_transition(hil_state_t new_state, orb_advert_t sta
#else
// TODO NOT IMPLEMENTED
// Handle VDev devices
const char *devname;
unsigned int handle = 0;
for(;;) {
devname = px4_get_device_names(&handle);
if (devname == NULL)
break;
// std::string devname;
// unsigned int index = 0;
// for(;;) {
// if (DevMgr::getNextDeviceName(index, devname) < 0) {
// break;
// }
/* skip mavlink */
if (!strcmp("/dev/mavlink", devname)) {
continue;
}
// /* skip mavlink */
// if (!strcmp("/dev/mavlink", devname.c_str())) {
// continue;
// }
// DevHandle h;
// DevMgr::getHandle(devname.c_str(), h);
int sensfd = px4_open(devname, 0);
// if (!h.isValid()) {
// warn("failed opening device %s", devname.c_str());
// continue;
// }
if (sensfd < 0) {
warn("failed opening device %s", devname);
continue;
}
// int block_ret = h.ioctl(DEVIOCSPUBBLOCK, (void *)1);
// DevMgr::releaseHandle(h);
int block_ret = px4_ioctl(sensfd, DEVIOCSPUBBLOCK, 1);
px4_close(sensfd);
// printf("Disabling %s: %s\n", devname.c_str(), (block_ret == OK) ? "OK" : "ERROR");
// }
printf("Disabling %s: %s\n", devname, (block_ret == OK) ? "OK" : "ERROR");
}
// Handle DF devices
std::string dfdevname;
unsigned int index = 0;
for(;;) {
if (DevMgr::getNextDeviceName(index, dfdevname) < 0) {
break;
}
DevHandle h;
DevMgr::getHandle(dfdevname.c_str(), h);
if (!h.isValid()) {
warn("failed opening device %s", dfdevname.c_str());
continue;
}
int block_ret = h.ioctl(DEVIOCSPUBBLOCK, 1);
DevMgr::releaseHandle(h);
printf("Disabling %s: %s\n", dfdevname.c_str(), (block_ret == OK) ? "OK" : "ERROR");
}
ret = TRANSITION_CHANGED;
mavlink_log_critical(mavlink_fd, "Switched to ON hil state");
src/modules/simulator/simulator.cpp
+9 -4
View File
@@ -135,10 +135,12 @@ int Simulator::start(int argc, char *argv[])
// Update sensor data
_instance->pollForMAVLinkMessages(false);
#endif
} else {
} else if (argv[2][1] == 'p') {
// Update sensor data
_instance->pollForMAVLinkMessages(true);
} else {
_instance->initializeSensorData();
_instance->_initialized = true;
}
} else {
@@ -151,9 +153,10 @@ int Simulator::start(int argc, char *argv[])
static void usage()
{
PX4_WARN("Usage: simulator {start -[sc] |stop}");
PX4_WARN("Usage: simulator {start -[spt] |stop}");
PX4_WARN("Simulate raw sensors: simulator start -s");
PX4_WARN("Publish sensors combined: simulator start -p");
PX4_WARN("Dummy unit test data: simulator start -t");
}
__BEGIN_DECLS
@@ -167,7 +170,9 @@ extern "C" {
int ret = 0;
if (argc == 3 && strcmp(argv[1], "start") == 0) {
if (strcmp(argv[2], "-s") == 0 || strcmp(argv[2], "-p") == 0) {
if (strcmp(argv[2], "-s") == 0 ||
strcmp(argv[2], "-p") == 0 ||
strcmp(argv[2], "-t") == 0) {
if (g_sim_task >= 0) {
warnx("Simulator already started");
return 0;