/**************************************************************************** * * Copyright (c) 2017 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 tune_control.cpp * * Command-line tool to control & test the (external) tunes. * To use it make sure there's a driver running, which handles the tune_control uorb topic. */ #include #include #include #include #include #include static void usage(void); static orb_advert_t tune_control_pub = nullptr; extern "C" { __EXPORT int tune_control_main(int argc, char *argv[]); } static void usage() { PX4_INFO( "External tune control for testing. Usage:\n" ); } static void publish_tune_control(tune_control_s &tune_control) { tune_control.timestamp = hrt_absolute_time(); if (tune_control_pub == nullptr) { tune_control_pub = orb_advertise_queue(ORB_ID(tune_control), &tune_control, 1); } else { orb_publish(ORB_ID(tune_control), tune_control_pub, &tune_control); } } // static void run_led_test1() // { // PX4_INFO("generating LED pattern..."); // // led_control_s led_control = {}; // led_control.led_mask = 0xff; // led_control.mode = led_control_s::MODE_OFF; // led_control.priority = led_control_s::MAX_PRIORITY; // publish_led_control(led_control); // // usleep(200 * 1000); // // // generate some pattern // for (int round = led_control_s::COLOR_RED; round <= led_control_s::COLOR_WHITE; ++round) { // for (int led = 0; led < BOARD_MAX_LEDS; ++led) { // led_control.led_mask = 1 << led; // led_control.mode = led_control_s::MODE_ON; // led_control.color = round; // publish_led_control(led_control); // usleep(80 * 1000); // } // // usleep(100 * 1000); // led_control.led_mask = 0xff; // // for (int i = 0; i < 3; ++i) { // led_control.mode = led_control_s::MODE_ON; // publish_led_control(led_control); // usleep(100 * 1000); // led_control.mode = led_control_s::MODE_OFF; // publish_led_control(led_control); // usleep(100 * 1000); // } // // usleep(200 * 1000); // } // // usleep(500 * 1000); // // // reset // led_control.led_mask = 0xff; // led_control.mode = led_control_s::MODE_DISABLED; // publish_led_control(led_control); // // PX4_INFO("Done"); // } int tune_control_main(int argc, char *argv[]) { output::Tunes tunes; bool string_input = false; const char *tune_string = NULL; int myoptind = 1; int ch; const char *myoptarg = NULL; uint8_t value; tune_control_s tune_control = {}; tune_control.tune_id = 0; tune_control.strength = 40; while ((ch = px4_getopt(argc, argv, "f:d:t:s:", &myoptind, &myoptarg)) != EOF) { switch (ch) { case 'f': if ((uint16_t)(strtol(myoptarg, NULL, 0)) > 0 && (uint16_t)(strtol(myoptarg, NULL, 0)) < 22000) { tune_control.frequency = (uint16_t)(strtol(myoptarg, NULL, 0)); } else { usage(); return 1; } break; case 'd': tune_control.duration = (uint16_t)(strtol(myoptarg, NULL, 0)); break; case 't': value = (uint8_t)(strtol(myoptarg, NULL, 0)); if (value >= 1 && value <= 15) { tune_control.tune_id = value; } else { usage(); return 1; } break; case 's': string_input = true; // TODO: check if the string is a valid tune sequence if (1) { tune_string = myoptarg; } else { usage(); return 1; } break; case 'p': // led_control.priority = strtol(myoptarg, NULL, 0); break; default: usage(); return -1; break; } } // if (led_control.priority > led_control_s::MAX_PRIORITY) { // led_control.priority = led_control_s::MAX_PRIORITY; // } if (myoptind >= argc) { usage(); return 1; } unsigned frequency, duration, silence; if (!strcmp(argv[myoptind], "play")) { if (string_input) { PX4_INFO("Start playback..."); while (tunes.parse_string(tune_string, frequency, duration, silence) > 0) { tune_control.tune_id = 0; tune_control.frequency = (uint16_t)frequency; tune_control.duration = (uint32_t)duration; publish_tune_control(tune_control); usleep(duration + silence); } PX4_INFO("Playback finished.") } else { if (tune_control.tune_id == 0) { tune_control.tune_id = 1; } PX4_INFO("Publishing standard tune %d", tune_control.tune_id); publish_tune_control(tune_control); } } else if (!strcmp(argv[myoptind], "libtest")) { while (tunes.parse_cmd(tune_control, frequency, duration, silence) > 0) { PX4_INFO("frequency: %d, duration %d, silence %d", frequency, duration, silence); usleep(500000); } } else { usage(); return 1; } // if (led_control.mode != 0xff) { // publish_led_control(led_control); // } return 0; }