introduce uORB::PublicationQueued and transition most orb_advertise_queue usage

2026-10-20 06:13:35 +08:00 · 2019-08-04 10:08:09 -04:00
parent 839787568c
commit e69398c09f
62 changed files with 421 additions and 674 deletions
@@ -0,0 +1,167 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2014 PX4 Development Team. All rights reserved.
+ *   Author: Holger Steinhaus <hsteinhaus@gmx.de>
+ *
+ * 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 motor_test.c
+ *
+ * Tool for drive testing
+ */
+
+#include <drivers/drv_hrt.h>
+#include <px4_config.h>
+#include <px4_getopt.h>
+#include <px4_log.h>
+#include <px4_module.h>
+#include <uORB/PublicationQueued.hpp>
+#include <uORB/topics/test_motor.h>
+
+extern "C" __EXPORT int motor_test_main(int argc, char *argv[]);
+
+static void motor_test(unsigned channel, float value);
+static void usage(const char *reason);
+
+void motor_test(unsigned channel, float value)
+{
+	test_motor_s test_motor{};
+	test_motor.timestamp = hrt_absolute_time();
+	test_motor.motor_number = channel;
+	test_motor.value = value;
+
+	uORB::PublicationQueued<test_motor_s> test_motor_pub{ORB_ID(test_motor)};
+	test_motor_pub.publish(test_motor);
+
+	PX4_INFO("motor %d set to %.2f", channel, (double)value);
+}
+
+static void usage(const char *reason)
+{
+	if (reason != NULL) {
+		PX4_WARN("%s", reason);
+	}
+
+	PRINT_MODULE_DESCRIPTION("Utility to test motors.\n"
+				 "\n"
+				 "Note: this can only be used for drivers which support the motor_test uorb topic (currently uavcan and tap_esc)\n"
+				);
+
+	PRINT_MODULE_USAGE_NAME("motor_test", "command");
+	PRINT_MODULE_USAGE_COMMAND_DESCR("test", "Set motor(s) to a specific output value");
+	PRINT_MODULE_USAGE_PARAM_INT('m', -1, 0, 7, "Motor to test (0...7, all if not specified)", true);
+	PRINT_MODULE_USAGE_PARAM_INT('p', 0, 0, 100, "Power (0...100)", true);
+	PRINT_MODULE_USAGE_COMMAND_DESCR("stop", "Stop all motors");
+	PRINT_MODULE_USAGE_COMMAND_DESCR("iterate", "Iterate all motors starting and stopping one after the other");
+
+}
+
+int motor_test_main(int argc, char *argv[])
+{
+	int channel = -1; //default to all channels
+	unsigned long lval;
+	float value = 0.0f;
+	int ch;
+
+	int myoptind = 1;
+	const char *myoptarg = NULL;
+
+	while ((ch = px4_getopt(argc, argv, "m:p:", &myoptind, &myoptarg)) != EOF) {
+		switch (ch) {
+
+		case 'm':
+			/* Read in motor number */
+			channel = (int)strtol(myoptarg, NULL, 0);
+			break;
+
+		case 'p':
+			/* Read in power value */
+			lval = strtoul(myoptarg, NULL, 0);
+
+			if (lval > 100) {
+				usage("value invalid");
+				return 1;
+			}
+
+			value = ((float)lval) / 100.f;
+			break;
+
+		default:
+			usage(NULL);
+			return 1;
+		}
+	}
+
+	bool run_test = true;
+
+	if (myoptind >= 0 && myoptind < argc) {
+		if (strcmp("stop", argv[myoptind]) == 0) {
+			channel = -1;
+			value = 0.f;
+
+		} else if (strcmp("iterate", argv[myoptind]) == 0) {
+			value = 0.3f;
+
+			for (int i = 0; i < 8; ++i) {
+				motor_test(i, value);
+				usleep(500000);
+				motor_test(i, 0.f);
+				usleep(10000);
+			}
+
+			run_test = false;
+
+		} else if (strcmp("test", argv[myoptind]) == 0) {
+			// nothing to do
+		} else {
+			usage(NULL);
+			return 0;
+		}
+
+	} else {
+		usage(NULL);
+		return 0;
+	}
+
+	if (run_test) {
+		if (channel < 0) {
+			for (int i = 0; i < 8; ++i) {
+				motor_test(i, value);
+				usleep(10000);
+			}
+
+		} else {
+			motor_test(channel, value);
+		}
+	}
+
+	return 0;
+}