mirror of https://github.com/ArduPilot/ardupilot
HAL_PX4: added -d command line option to app
allows control of serial device
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64a8a8e4c9
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@ -39,12 +39,12 @@ static PX4EEPROMStorage storageDriver;
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static PX4RCInput rcinDriver;
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static PX4RCOutput rcoutDriver;
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#define UARTA_DEVICE "/dev/ttyS2"
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#define UARTB_DEVICE "/dev/ttyS3"
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#define UARTA_DEFAULT_DEVICE "/dev/ttyS0"
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#define UARTB_DEFAULT_DEVICE "/dev/ttyS3"
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// only two real UART drivers for now
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static PX4UARTDriver uartADriver(UARTA_DEVICE);
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static PX4UARTDriver uartBDriver(UARTB_DEVICE);
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static PX4UARTDriver uartADriver(UARTA_DEFAULT_DEVICE);
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static PX4UARTDriver uartBDriver(UARTB_DEFAULT_DEVICE);
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static Empty::EmptyUARTDriver uartCDriver;
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HAL_PX4::HAL_PX4() :
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@ -84,59 +84,87 @@ static int main_loop(int argc, char **argv)
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setup();
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hal.scheduler->system_initialized();
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while (true) {
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while (!thread_should_exit) {
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loop();
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// yield the CPU for 1ms between loops to let other apps
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// get some CPU time
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poll(NULL, 0, 1);
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}
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thread_running = false;
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return 0;
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}
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static void usage(void)
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{
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printf("Usage: %s [options] {start,stop,status}\n", SKETCHNAME);
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printf("Options:\n");
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printf("\t-d DEVICE set terminal device (default %s)\n", UARTA_DEFAULT_DEVICE);
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printf("\n");
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}
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void HAL_PX4::init(int argc, char * const argv[]) const
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{
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int i;
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const char *device = UARTA_DEFAULT_DEVICE;
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if (argc < 1) {
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printf("%s: missing command (try '%s start')",
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SKETCHNAME, SKETCHNAME);
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usage();
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exit(1);
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}
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if (strcmp(argv[1], "start") == 0) {
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if (thread_running) {
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printf("%s already running\n", SKETCHNAME);
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/* this is not an error */
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exit(0);
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}
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for (i=0; i<argc; i++) {
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if (strcmp(argv[i], "start") == 0) {
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if (thread_running) {
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printf("%s already running\n", SKETCHNAME);
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/* this is not an error */
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exit(0);
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}
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printf("Starting %s on %s\n", SKETCHNAME, UARTA_DEVICE);
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uartADriver.set_device_path(device);
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printf("Starting %s on %s\n", SKETCHNAME, device);
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thread_should_exit = false;
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daemon_task = task_spawn(SKETCHNAME,
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SCHED_RR,
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SCHED_PRIORITY_DEFAULT,
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4096,
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main_loop,
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NULL);
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exit(0);
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}
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thread_running = true;
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thread_should_exit = false;
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daemon_task = task_spawn(SKETCHNAME,
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SCHED_RR,
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SCHED_PRIORITY_DEFAULT,
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4096,
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main_loop,
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NULL);
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exit(0);
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}
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if (strcmp(argv[1], "stop") == 0) {
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thread_should_exit = true;
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exit(0);
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}
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if (strcmp(argv[i], "stop") == 0) {
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thread_should_exit = true;
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exit(0);
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}
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if (strcmp(argv[1], "status") == 0) {
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if (thread_running) {
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printf("\t%s is running\n", SKETCHNAME);
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} else {
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printf("\t%s is not started\n", SKETCHNAME);
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if (strcmp(argv[i], "status") == 0) {
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if (thread_running) {
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printf("\t%s is running\n", SKETCHNAME);
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} else {
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printf("\t%s is not started\n", SKETCHNAME);
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}
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exit(0);
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}
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if (strcmp(argv[i], "-d") == 0) {
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// set terminal device
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if (argc > i + 1) {
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device = strdup(argv[i+1]);
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} else {
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printf("missing parameter to -d DEVICE\n");
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usage();
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exit(1);
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}
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}
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exit(0);
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}
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}
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printf("%s: unrecognized command ('start', 'stop' or 'status')", SKETCHNAME);
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usage();
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exit(1);
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}
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@ -36,6 +36,10 @@ public:
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bool _initialised;
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void set_device_path(const char *path) {
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_devpath = path;
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}
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private:
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const char *_devpath;
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int _fd;
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