PX4-Autopilot/src/platforms/posix/drivers/barosim/baro_sim.cpp

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 /**
  * @file baro_sim.cpp
  *
  * Simulation interface for barometer
  */

/* XXX trim includes */
#include <px4_config.h>
#include <px4_defines.h>

#include <sys/types.h>
#include <stdint.h>
#include <stdbool.h>
#include <assert.h>
//#include <debug.h>
#include <errno.h>
#include <unistd.h>

#include <drivers/device/sim.h>
#include <simulator/simulator.h>
#include "barosim.h"
#include "board_config.h"

device::Device *BAROSIM_sim_interface(barosim::prom_u &prom_buf);

class BARO_SIM : public device::SIM
{
public:
	BARO_SIM(uint8_t bus, barosim::prom_u &prom_buf);
	virtual ~BARO_SIM();

	virtual int	init();
	virtual int	dev_read(unsigned offset, void *data, unsigned count);
	virtual int	dev_ioctl(unsigned operation, unsigned &arg);

	virtual int	transfer(const uint8_t *send, unsigned send_len,
				 uint8_t *recv, unsigned recv_len);
private:
	//barosim::prom_u	&_prom;

	/**
	 * Send a reset command to the barometer simulator.
	 *
	 * This is required after any bus reset.
	 */
	int		_reset();

	/**
	 * Send a measure command to the barometer simulator.
	 *
	 * @param addr		Which address to use for the measure operation.
	 */
	int		_measure(unsigned addr);

	/**
	 * Read the MS5611 PROM
	 *
	 * @return		PX4_OK if the PROM reads successfully.
	 */
	int		_read_prom();

};

device::Device *
BAROSIM_sim_interface(barosim::prom_u &prom_buf, uint8_t busnum)
{
	return new BARO_SIM(busnum, prom_buf);
}

BARO_SIM::BARO_SIM(uint8_t bus, barosim::prom_u &prom) :
	SIM("BARO_SIM", "/dev/BARO_SIM", bus, 0)
{
}

BARO_SIM::~BARO_SIM()
{
}

int
BARO_SIM::init()
{
	return SIM::init();
}

int
BARO_SIM::dev_read(unsigned offset, void *data, unsigned count)
{
	union _cvt {
		uint8_t	b[4];
		uint32_t w;
	} *cvt = (_cvt *)data;
	uint8_t buf[3];

	/* read the most recent measurement */
	uint8_t cmd = 0;
	int ret = transfer(&cmd, 1, &buf[0], 3);
	if (ret == PX4_OK) {
		/* fetch the raw value */
		cvt->b[0] = buf[2];
		cvt->b[1] = buf[1];
		cvt->b[2] = buf[0];
		cvt->b[3] = 0;
	}

	return ret;
}

int
BARO_SIM::dev_ioctl(unsigned operation, unsigned &arg)
{
	int ret;

	switch (operation) {
	case IOCTL_RESET:
		ret = _reset();
		break;

	case IOCTL_MEASURE:
		ret = _measure(arg);
		break;

	default:
		ret = EINVAL;
	}

	return ret;
}

int
BARO_SIM::_reset()
{
	unsigned	old_retrycount = _retries;
	uint8_t		cmd = ADDR_RESET_CMD;
	int		result;

	/* bump the retry count */
	_retries = 10;
	result = transfer(&cmd, 1, nullptr, 0);
	_retries = old_retrycount;

	return result;
}

int
BARO_SIM::_measure(unsigned addr)
{
	/*
	 * Disable retries on this command; we can't know whether failure 
	 * means the device did or did not see the command.
	 */
	_retries = 0;

	uint8_t cmd = addr;
	return transfer(&cmd, 1, nullptr, 0);
}

int
BARO_SIM::_read_prom()
{
	int ret = 1;
	// TODO input simlation data
	return ret;
}

int
BARO_SIM::transfer(const uint8_t *send, unsigned send_len,
				 uint8_t *recv, unsigned recv_len)
{
	// TODO add Simulation data connection so calls retrieve
	// data from the simulator
	if (recv_len == 0) {
		PX4_DEBUG("BARO_SIM measurement requested");
	}
	else if (send_len != 1 || send[0] != 0 || recv_len != 3) {
		PX4_WARN("BARO_SIM::transfer invalid param %u %u %u\n", send_len, send[0], recv_len);
		return 1;
	}
	else {
		Simulator *sim = Simulator::getInstance();
		if (sim == NULL) {
			PX4_ERR("Error BARO_SIM::transfer no simulator \n");
			return -ENODEV;
		}
		PX4_DEBUG("BARO_SIM::transfer getting sample\n");
		sim->getBaroSample(recv, recv_len);
	}
	return 0;
}