forked from Archive/PX4-Autopilot
navio_sysfs_rc_in: only publish input_rc if connected and all channels are non-zero
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65c0882f97
commit
97bd668e52
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@ -38,13 +38,11 @@
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#include <sys/stat.h>
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#include <fcntl.h>
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using namespace time_literals;
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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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@ -57,50 +55,44 @@ NavioSysRCInput::~NavioSysRCInput()
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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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for (int i = 0; i < CHANNELS; ++i) {
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::close(_channel_fd[i]);
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}
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::close(_connected_fd);
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perf_free(_publish_interval_perf);
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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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_connected_fd = ::open("/sys/kernel/rcio/rcin/connected", O_RDONLY);
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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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for (int i = 0; i < CHANNELS; ++i) {
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char buf[80] {};
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::snprintf(buf, sizeof(buf), "%s/ch%d", "/sys/kernel/rcio/rcin", 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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PX4_ERR("open %s (%d) failed", buf, i);
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break;
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}
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_ch_fd[i] = fd;
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_channel_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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return PX4_OK;
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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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navio_rc_init();
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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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ScheduleOnInterval(10_ms); // 100 Hz
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return PX4_OK;
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}
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void NavioSysRCInput::stop()
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@ -115,38 +107,65 @@ void NavioSysRCInput::Run()
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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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char connected_buf[12] {};
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int ret_connected = ::pread(_connected_fd, connected_buf, sizeof(connected_buf) - 1, 0);
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for (int i = 0; i < _channels; ++i) {
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int res;
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if (ret_connected < 0) {
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return;
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}
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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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input_rc_s data{};
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connected_buf[sizeof(connected_buf) - 1] = '\0';
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_connected = (atoi(connected_buf) == 1);
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data.rc_lost = !_connected;
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uint64_t timestamp_sample = hrt_absolute_time();
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for (int i = 0; i < CHANNELS; ++i) {
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char buf[12] {};
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int res = ::pread(_channel_fd[i], buf, sizeof(buf) - 1, 0);
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if (res < 0) {
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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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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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// check if all channels are 0
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bool all_zero = true;
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_input_rc_pub.publish(_data);
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for (int i = 0; i < CHANNELS; ++i) {
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if (data.values[i] != 0) {
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all_zero = false;
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}
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}
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if (all_zero) {
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return;
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}
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data.timestamp_last_signal = timestamp_sample;
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data.channel_count = CHANNELS;
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data.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_PPM;
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data.timestamp = hrt_absolute_time();
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_input_rc_pub.publish(data);
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perf_count(_publish_interval_perf);
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}
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int NavioSysRCInput::print_status()
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{
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PX4_INFO("Running");
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PX4_INFO("connected: %d", _connected);
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perf_print_counter(_publish_interval_perf);
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return 0;
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}
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}; // namespace navio_sysfs_rc_in
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@ -39,6 +39,7 @@
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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 <lib/perf/perf_counter.h>
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#include <uORB/PublicationMulti.hpp>
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#include <uORB/topics/input_rc.h>
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@ -57,6 +58,8 @@ public:
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/* @return 0 on success, -errno on failure */
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void stop();
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int print_status();
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bool isRunning() { return _isRunning; }
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private:
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@ -70,11 +73,13 @@ private:
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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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static constexpr int CHANNELS{14};
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int _channel_fd[CHANNELS] {};
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int _connected_fd{-1};
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input_rc_s _data{};
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bool _connected{false};
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perf_counter_t _publish_interval_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": publish interval")};
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};
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}; // namespace navio_sysfs_rc_in
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@ -109,11 +109,11 @@ extern "C" __EXPORT int navio_sysfs_rc_in_main(int argc, char *argv[])
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}
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if (!strcmp(argv[1], "status")) {
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if (rc_input != nullptr && rc_input->isRunning()) {
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PX4_INFO("running");
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if (rc_input != nullptr) {
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rc_input->print_status();
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} else {
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PX4_INFO("not running\n");
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PX4_INFO("not running");
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}
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return 0;
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