BebopFlow: Add initial PX4 app and structure

cmake/configs/posix_bebop_default.cmake

@@ -27,6 +27,7 @@ set(config_module_list
 	platforms/posix/drivers/df_ak8963_wrapper
 	platforms/posix/drivers/df_bebop_bus_wrapper
 	platforms/posix/drivers/df_bebop_rangefinder_wrapper
+	platforms/posix/drivers/bebop_flow
 
 	#
 	# System commands

src/platforms/posix/drivers/bebop_flow/CMakeLists.txt

@@ -0,0 +1,46 @@
+############################################################################
+#
+#   Copyright (c) 2016 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.
+#
+############################################################################
+
+include_directories(../../../../lib/DriverFramework/drivers)
+
+px4_add_module(
+	MODULE platforms__posix__drivers__bebop_flow
+	MAIN bebop_flow
+	SRCS
+		bebop_flow.cpp
+		video_device.cpp
+	DEPENDS
+		platforms__common
+		df_driver_framework
+	)
+# vim: set noet ft=cmake fenc=utf-8 ff=unix :

src/platforms/posix/drivers/bebop_flow/bebop_flow.cpp

@@ -0,0 +1,208 @@
+
+/****************************************************************************
+ *
+ *   Copyright (c) 2016 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 bebop_flow.cpp
+ *
+ * This is a wrapper around the Parrot Bebop's downward-facing camera and integrates
+ * an optical flow computation.
+ */
+
+#include <stdint.h>
+
+#include <px4_tasks.h>
+#include <px4_getopt.h>
+#include <px4_posix.h>
+
+#include "video_device.h"
+
+extern "C" { __EXPORT int bebop_flow_main(int argc, char *argv[]); }
+
+namespace bebop_flow
+{
+VideoDevice *g_dev = nullptr;            // interface to the video device
+volatile bool _task_should_exit = false; // flag indicating if bebop flow task should exit
+static bool _is_running = false;         // flag indicating if bebop flow  app is running
+static px4_task_t _task_handle = -1;     // handle to the task main thread
+
+static char *dev_name = "/dev/video0";
+
+int start();
+int stop();
+int info();
+int clear_errors();
+void usage();
+void task_main(int argc, char *argv[]);
+
+
+void task_main(int argc, char *argv[])
+{
+	_is_running = true;
+
+	// Main loop
+	while (!_task_should_exit) {
+
+	}
+
+	_is_running = false;
+
+}
+
+int start()
+{
+	g_dev = new VideoDevice();
+
+	if (g_dev == nullptr) {
+		PX4_ERR("failed instantiating video device object");
+		return -1;
+	}
+
+	int ret = g_dev->start();
+
+	if (ret != 0) {
+		PX4_ERR("Video device start failed");
+		return ret;
+	}
+
+	/* start the task */
+	_task_handle = px4_task_spawn_cmd("bebop_flow",
+					  SCHED_DEFAULT,
+					  SCHED_PRIORITY_DEFAULT,
+					  2000,
+					  (px4_main_t)&task_main,
+					  nullptr);
+
+	if (_task_handle < 0) {
+		warn("task start failed");
+		return -1;
+	}
+
+	return 0;
+}
+
+int stop()
+{
+	// Stop bebop flow task
+	_task_should_exit = true;
+
+	while (_is_running) {
+		usleep(200000);
+		PX4_INFO(".");
+	}
+
+	_task_handle = -1;
+
+	if (g_dev == nullptr) {
+		PX4_ERR("driver not running");
+		return 1;
+	}
+
+	// Stop DF device
+	int ret = g_dev->stop();
+
+	if (ret != 0) {
+		PX4_ERR("driver could not be stopped");
+		return ret;
+	}
+
+	delete g_dev;
+	g_dev = nullptr;
+	return 0;
+}
+
+/**
+ * Print a little info about the driver.
+ */
+int
+info()
+{
+	if (g_dev == nullptr) {
+		PX4_ERR("driver not running");
+		return 1;
+	}
+
+	PX4_DEBUG("state @ %p", g_dev);
+
+	int ret = g_dev->print_info();
+
+	if (ret != 0) {
+		PX4_ERR("Unable to print info");
+		return ret;
+	}
+
+	return 0;
+}
+
+void
+usage()
+{
+	PX4_INFO("Usage: bebop_flow 'start', 'info', 'stop'");
+}
+
+} /* bebop flow namespace*/
+
+int
+bebop_flow_main(int argc, char *argv[])
+{
+	int ret = 0;
+	int myoptind = 1;
+
+	if (argc <= 1) {
+		bebop_flow::usage();
+		return 1;
+	}
+
+	const char *verb = argv[myoptind];
+
+
+	if (!strcmp(verb, "start")) {
+		ret = bebop_flow::start();
+	}
+
+	else if (!strcmp(verb, "stop")) {
+		ret = bebop_flow::stop();
+	}
+
+	else if (!strcmp(verb, "info")) {
+		ret = bebop_flow::info();
+	}
+
+	else {
+		bebop_flow::usage();
+		return 1;
+	}
+
+	return ret;
+}

src/platforms/posix/drivers/bebop_flow/video_device.cpp

@@ -0,0 +1,26 @@
+#include "video_device.h"
+
+int VideoDevice::start()
+{
+	return -1;
+}
+
+int VideoDevice::stop()
+{
+	return -1;
+}
+
+int VideoDevice::print_info()
+{
+	return -1;
+}
+
+int VideoDevice::open_device()
+{
+	return -1;
+}
+
+int VideoDevice::close_device()
+{
+	return -1;
+}

src/platforms/posix/drivers/bebop_flow/video_device.h

@@ -0,0 +1,58 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2016 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.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+class VideoDevice
+{
+public:
+	VideoDevice(const char *dev_name) :
+		_dev_name(dev_name) {};
+
+	~VideoDevice() = default;
+
+	/// Start the device
+	int start();
+
+	/// Stop the device
+	int stop();
+
+	/// Print various infos
+	int print_info();
+
+private:
+	char *_dev_name;
+
+	int open_device();
+	int close_device();
+};