forked from Archive/PX4-Autopilot
navio_sysfs_rc_in: move to PX4 WQ and cleanup
This commit is contained in:
Daniel Agar
parent
793d1d7889
commit
4ac5b00a06
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@ -1,6 +1,6 @@
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############################################################################
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#
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# Copyright (c) 2016 PX4 Development Team. All rights reserved.
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# Copyright (c) 2016-2020 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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@ -31,11 +31,12 @@
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#
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############################################################################
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px4_add_module(
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MODULE drivers__navio_sysfs_rc_in
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MODULE navio_sysfs_rc_in
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MAIN navio_sysfs_rc_in
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COMPILE_FLAGS
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SRCS
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navio_sysfs_rc_in.cpp
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NavioSysRCInput.cpp
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NavioSysRCInput.hpp
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navio_sysfs_rc_in_main.cpp
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DEPENDS
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)
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px4_work_queue
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)
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@ -0,0 +1,152 @@
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/****************************************************************************
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*
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* Copyright (C) 2015 Mark Charlebois. All rights reserved.
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* Copyright (C) 2016 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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#include "NavioSysRCInput.hpp"
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#include <sys/types.h>
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#include <sys/stat.h>
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#include <fcntl.h>
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namespace navio_sysfs_rc_in
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{
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#define RCINPUT_DEVICE_PATH_BASE "/sys/kernel/rcio/rcin"
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#define RCINPUT_MEASURE_INTERVAL_US 20000 // microseconds
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NavioSysRCInput::NavioSysRCInput() :
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ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::hp_default)
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{
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_isRunning = true;
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};
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NavioSysRCInput::~NavioSysRCInput()
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{
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ScheduleClear();
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_isRunning = false;
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for (int i = 0; i < _channels; ++i) {
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if (_ch_fd[i] != -1) {
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::close(_ch_fd[i]);
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}
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}
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}
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int NavioSysRCInput::navio_rc_init()
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{
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int i;
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char buf[64];
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for (i = 0; i < _channels; ++i) {
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::snprintf(buf, sizeof(buf), "%s/ch%d", RCINPUT_DEVICE_PATH_BASE, i);
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int fd = ::open(buf, O_RDONLY);
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if (fd < 0) {
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PX4_WARN("error: open %d failed", i);
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break;
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}
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_ch_fd[i] = fd;
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}
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for (; i < input_rc_s::RC_INPUT_MAX_CHANNELS; ++i) {
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_data.values[i] = UINT16_MAX;
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}
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return 0;
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}
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int NavioSysRCInput::start()
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{
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int result = navio_rc_init();
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if (result != 0) {
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PX4_WARN("error: RC initialization failed");
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return -1;
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}
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_should_exit.store(false);
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ScheduleOnInterval(RCINPUT_MEASURE_INTERVAL_US);
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return result;
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}
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void NavioSysRCInput::stop()
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{
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_should_exit.store(true);
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}
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void NavioSysRCInput::Run()
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{
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if (_should_exit.load()) {
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ScheduleClear();
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return;
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}
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uint64_t ts = 0;
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char buf[12] {};
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for (int i = 0; i < _channels; ++i) {
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int res;
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if ((res = ::pread(_ch_fd[i], buf, sizeof(buf) - 1, 0)) < 0) {
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_data.values[i] = UINT16_MAX;
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continue;
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}
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ts = hrt_absolute_time();
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buf[sizeof(buf) - 1] = '\0';
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_data.values[i] = atoi(buf);
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}
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if (ts > 0) {
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_data.timestamp_last_signal = ts;
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_data.channel_count = _channels;
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_data.rssi = 100;
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_data.rc_lost_frame_count = 0;
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_data.rc_total_frame_count = 1;
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_data.rc_ppm_frame_length = 100;
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_data.rc_failsafe = false;
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_data.rc_lost = false;
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_data.input_source = input_rc_s::RC_INPUT_SOURCE_PX4IO_PPM;
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_data.timestamp = hrt_absolute_time();
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_input_rc_pub.publish(_data);
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}
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}
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}; // namespace navio_sysfs_rc_in
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@ -0,0 +1,80 @@
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/****************************************************************************
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*
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* Copyright (C) 2015 Mark Charlebois. All rights reserved.
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* Copyright (C) 2016 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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#pragma once
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#include <px4_platform_common/px4_config.h>
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#include <px4_platform_common/atomic.h>
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#include <px4_platform_common/defines.h>
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#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
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#include <drivers/drv_hrt.h>
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#include <uORB/PublicationMulti.hpp>
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#include <uORB/topics/input_rc.h>
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namespace navio_sysfs_rc_in
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{
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class NavioSysRCInput : public px4::ScheduledWorkItem
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{
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public:
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NavioSysRCInput();
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~NavioSysRCInput() override;
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/* @return 0 on success, -errno on failure */
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int start();
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/* @return 0 on success, -errno on failure */
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void stop();
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bool isRunning() { return _isRunning; }
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private:
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void Run() override;
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int navio_rc_init();
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px4::atomic_bool _should_exit{false};
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bool _isRunning{false};
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uORB::PublicationMulti<input_rc_s> _input_rc_pub{ORB_ID(input_rc)};
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int _channels{8}; // D8R-II plus
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int _ch_fd[input_rc_s::RC_INPUT_MAX_CHANNELS] {};
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input_rc_s _data{};
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};
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}; // namespace navio_sysfs_rc_in
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@ -32,179 +32,15 @@
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*
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****************************************************************************/
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#include <sys/types.h>
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#include <sys/stat.h>
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#include <fcntl.h>
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#include <stdio.h>
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#include <stdint.h>
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#include <unistd.h>
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#include <string.h>
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#include <stdlib.h>
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#include <px4_platform_common/px4_config.h>
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#include <px4_platform_common/workqueue.h>
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#include <px4_platform_common/defines.h>
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#include <px4_platform_common/getopt.h>
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#include <drivers/drv_hrt.h>
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#include <uORB/PublicationMulti.hpp>
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#include <uORB/topics/input_rc.h>
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#include "NavioSysRCInput.hpp"
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namespace navio_sysfs_rc_in
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{
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extern "C" __EXPORT int navio_sysfs_rc_in_main(int argc, char *argv[]);
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#define RCINPUT_DEVICE_PATH_BASE "/sys/kernel/rcio/rcin"
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#define RCINPUT_MEASURE_INTERVAL_US 20000 // microseconds
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class RcInput
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{
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public:
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RcInput() = default;
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~RcInput()
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{
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work_cancel(HPWORK, &_work);
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_isRunning = false;
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}
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/* @return 0 on success, -errno on failure */
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int start();
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/* @return 0 on success, -errno on failure */
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void stop();
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/* Trampoline for the work queue. */
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static void cycle_trampoline(void *arg);
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bool isRunning() { return _isRunning; }
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private:
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void _cycle();
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void _measure();
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int navio_rc_init();
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bool _shouldExit{false};
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bool _isRunning{false};
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work_s _work{};
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uORB::PublicationMulti<input_rc_s> _rcinput_pub{ORB_ID(input_rc)};
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int _channels{8}; // D8R-II plus
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int _ch_fd[input_rc_s::RC_INPUT_MAX_CHANNELS] {};
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input_rc_s _data{};
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};
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int RcInput::navio_rc_init()
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{
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int i;
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char buf[64];
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for (i = 0; i < _channels; ++i) {
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::snprintf(buf, sizeof(buf), "%s/ch%d", RCINPUT_DEVICE_PATH_BASE, i);
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int fd = ::open(buf, O_RDONLY);
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if (fd < 0) {
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PX4_WARN("error: open %d failed", i);
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break;
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}
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_ch_fd[i] = fd;
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}
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for (; i < input_rc_s::RC_INPUT_MAX_CHANNELS; ++i) {
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_data.values[i] = UINT16_MAX;
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}
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return 0;
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}
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int RcInput::start()
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{
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int result = navio_rc_init();
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if (result != 0) {
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PX4_WARN("error: RC initialization failed");
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return -1;
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}
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_isRunning = true;
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result = work_queue(HPWORK, &_work, (worker_t)&RcInput::cycle_trampoline, this, 0);
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if (result == -1) {
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_isRunning = false;
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}
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return result;
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}
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void RcInput::stop()
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{
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_shouldExit = true;
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}
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void RcInput::cycle_trampoline(void *arg)
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{
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RcInput *dev = static_cast<RcInput *>(arg);
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dev->_cycle();
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}
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void RcInput::_cycle()
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{
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_measure();
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if (!_shouldExit) {
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work_queue(HPWORK, &_work, (worker_t)&RcInput::cycle_trampoline, this,
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USEC2TICK(RCINPUT_MEASURE_INTERVAL_US));
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}
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}
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void RcInput::_measure(void)
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{
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uint64_t ts;
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char buf[12];
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for (int i = 0; i < _channels; ++i) {
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int res;
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if ((res = ::pread(_ch_fd[i], buf, sizeof(buf) - 1, 0)) < 0) {
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_data.values[i] = UINT16_MAX;
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continue;
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}
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buf[sizeof(buf) - 1] = '\0';
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_data.values[i] = atoi(buf);
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}
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ts = hrt_absolute_time();
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_data.timestamp = ts;
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_data.timestamp_last_signal = ts;
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_data.channel_count = _channels;
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_data.rssi = 100;
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_data.rc_lost_frame_count = 0;
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_data.rc_total_frame_count = 1;
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_data.rc_ppm_frame_length = 100;
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_data.rc_failsafe = false;
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_data.rc_lost = false;
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_data.input_source = input_rc_s::RC_INPUT_SOURCE_PX4IO_PPM;
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_rcinput_pub.publish(_data);
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}
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/**
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* Print the correct usage.
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*/
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static void usage(const char *reason);
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static void
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usage(const char *reason)
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static void usage(const char *reason)
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{
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if (reason) {
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PX4_ERR("%s", reason);
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@ -213,9 +49,9 @@ usage(const char *reason)
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PX4_INFO("usage: navio_sysfs_rc_in {start|stop|status}");
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}
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static RcInput *rc_input = nullptr;
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static NavioSysRCInput *rc_input = nullptr;
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int navio_sysfs_rc_in_main(int argc, char *argv[])
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extern "C" __EXPORT int navio_sysfs_rc_in_main(int argc, char *argv[])
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{
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if (argc < 2) {
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usage("missing command");
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@ -230,7 +66,7 @@ int navio_sysfs_rc_in_main(int argc, char *argv[])
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return 0;
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}
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rc_input = new RcInput();
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rc_input = new NavioSysRCInput();
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// Check if alloc worked.
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if (rc_input == nullptr) {
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