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cmake remove circular linking and reorganize
- px4_add_module now requires MAIN - px4_add_library doesn't automatically link
This commit is contained in:
Daniel Agar
@@ -0,0 +1,355 @@
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/****************************************************************************
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*
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* Copyright (c) 2012-2015 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 baro.cpp
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* Driver for the simulated barometric pressure sensor
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*/
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#include <inttypes.h>
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#include <px4_config.h>
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#include <px4_defines.h>
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#include <px4_time.h>
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#include <px4_getopt.h>
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#include <sys/types.h>
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#include <stdint.h>
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#include <stdbool.h>
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#include <stdlib.h>
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#include <semaphore.h>
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#include <string.h>
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#include <fcntl.h>
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#include <errno.h>
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#include <stdio.h>
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#include <math.h>
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#include <unistd.h>
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#include <arch/board/board.h>
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#include <board_config.h>
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#include <drivers/device/device.h>
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#include <drivers/drv_baro.h>
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#include <drivers/drv_hrt.h>
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#include <drivers/device/ringbuffer.h>
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#include <simulator/simulator.h>
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#include <perf/perf_counter.h>
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#include <systemlib/err.h>
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#include "barosim.h"
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#include "VirtDevObj.hpp"
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/* helper macro for arithmetic - returns the square of the argument */
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#define POW2(_x) ((_x) * (_x))
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#define BAROSIM_DEV_PATH "/dev/barosim"
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#define BAROSIM_MEASURE_INTERVAL_US (10000)
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using namespace DriverFramework;
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class BAROSIM : public VirtDevObj
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{
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public:
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BAROSIM(const char *path);
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virtual ~BAROSIM();
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virtual int init() override;
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virtual int devIOCTL(unsigned long cmd, unsigned long arg) override;
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/**
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* Diagnostics - print some basic information about the driver.
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*/
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void print_info();
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protected:
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ringbuffer::RingBuffer *_reports;
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/* last report */
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struct baro_report report;
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orb_advert_t _baro_topic;
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int _orb_class_instance;
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perf_counter_t _sample_perf;
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perf_counter_t _measure_perf;
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perf_counter_t _comms_errors;
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/**
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* Get the internal / external state
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*
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* @return true if the sensor is not on the main MCU board
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*/
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bool is_external() { return (_orb_class_instance == 0); /* XXX put this into the interface class */ }
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virtual void _measure() override;
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/**
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* Collect the result of the most recent measurement.
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*/
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virtual int collect();
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};
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static BAROSIM *g_barosim = nullptr;
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/*
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* Driver 'main' command.
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*/
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extern "C" __EXPORT int barosim_main(int argc, char *argv[]);
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BAROSIM::BAROSIM(const char *path) :
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VirtDevObj("BAROSIM", path, BARO_BASE_DEVICE_PATH, BAROSIM_MEASURE_INTERVAL_US),
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_reports(nullptr),
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report{},
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_baro_topic(nullptr),
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_orb_class_instance(-1),
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_sample_perf(perf_alloc(PC_ELAPSED, "barosim_read")),
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_measure_perf(perf_alloc(PC_ELAPSED, "barosim_measure")),
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_comms_errors(perf_alloc(PC_COUNT, "barosim_comms_errors"))
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{
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}
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BAROSIM::~BAROSIM()
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{
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/* make sure we are truly inactive */
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stop();
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setSampleInterval(0);
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/* free any existing reports */
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if (_reports != nullptr) {
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delete _reports;
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}
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// free perf counters
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perf_free(_sample_perf);
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perf_free(_measure_perf);
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perf_free(_comms_errors);
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}
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int
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BAROSIM::init()
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{
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int ret;
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struct baro_report brp = {};
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ret = VirtDevObj::init();
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if (ret != OK) {
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PX4_ERR("VirtDevObj init failed");
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goto out;
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}
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/* allocate basic report buffers */
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_reports = new ringbuffer::RingBuffer(2, sizeof(baro_report));
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if (_reports == nullptr) {
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PX4_ERR("can't get memory for reports");
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ret = -ENOMEM;
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goto out;
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}
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_reports->flush();
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_baro_topic = orb_advertise_multi(ORB_ID(sensor_baro), &brp,
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&_orb_class_instance, (is_external()) ? ORB_PRIO_HIGH : ORB_PRIO_DEFAULT);
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if (_baro_topic == nullptr) {
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PX4_ERR("failed to create sensor_baro publication");
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return -ENODEV;
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}
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/* fill report structures */
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start();
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out:
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return ret;
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}
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int
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BAROSIM::devIOCTL(unsigned long cmd, unsigned long arg)
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{
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/* give it to the bus-specific superclass */
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// return bus_ioctl(filp, cmd, arg);
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return VirtDevObj::devIOCTL(cmd, arg);
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}
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void
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BAROSIM::_measure()
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{
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collect();
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}
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int
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BAROSIM::collect()
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{
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bool status;
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simulator::RawBaroData raw_baro;
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perf_begin(_sample_perf);
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report.timestamp = hrt_absolute_time();
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report.error_count = perf_event_count(_comms_errors);
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/* read requested */
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Simulator *sim = Simulator::getInstance();
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if (sim == nullptr) {
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PX4_ERR("Error BAROSIM_DEV::transfer no simulator");
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return -ENODEV;
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}
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PX4_DEBUG("BAROSIM_DEV::transfer getting sample");
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status = sim->getBaroSample((uint8_t *)(&raw_baro), sizeof(raw_baro));
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if (!status) {
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perf_count(_comms_errors);
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perf_end(_sample_perf);
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return -1;
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}
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report.pressure = raw_baro.pressure;
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report.temperature = raw_baro.temperature;
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/* fake device ID */
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report.device_id = 478459;
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/* publish it */
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if (!(m_pub_blocked)) {
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if (_baro_topic != nullptr) {
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/* publish it */
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orb_publish(ORB_ID(sensor_baro), _baro_topic, &report);
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} else {
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PX4_WARN("BAROSIM::collect _baro_topic not initialized");
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}
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}
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_reports->force(&report);
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perf_end(_sample_perf);
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return OK;
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}
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void
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BAROSIM::print_info()
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{
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perf_print_counter(_sample_perf);
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perf_print_counter(_comms_errors);
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PX4_INFO("poll interval: %u usec", m_sample_interval_usecs);
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_reports->print_info("report queue");
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PX4_INFO("TEMP: %f", (double)report.temperature);
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PX4_INFO("P: %.3f", (double)report.pressure);
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}
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namespace barosim
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{
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/**
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* Start the driver.
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*
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* This function call only returns once the driver
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* is either successfully up and running or failed to start.
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*/
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static int
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start()
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{
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g_barosim = new BAROSIM(BAROSIM_DEV_PATH);
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if (g_barosim != nullptr && OK != g_barosim->init()) {
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delete g_barosim;
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g_barosim = nullptr;
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PX4_ERR("bus init failed");
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return false;
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}
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return 0;
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}
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/**
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* Print a little info about the driver.
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*/
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static int
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info()
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{
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if (g_barosim != nullptr) {
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PX4_INFO("%s", BAROSIM_DEV_PATH);
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g_barosim->print_info();
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}
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return 0;
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}
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static void
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usage()
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{
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PX4_WARN("missing command: try 'start', 'info'");
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}
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}; // namespace barosim
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int
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barosim_main(int argc, char *argv[])
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{
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int ret;
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if (argc < 2) {
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barosim::usage();
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return 1;
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}
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const char *verb = argv[1];
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/*
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* Start/load the driver.
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*/
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if (!strcmp(verb, "start")) {
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ret = barosim::start();
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}
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/*
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* Print driver information.
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*/
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else if (!strcmp(verb, "info")) {
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ret = barosim::info();
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} else {
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barosim::usage();
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return 1;
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}
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return ret;
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}
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