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HIL: Cleanup creation and initialization 

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois 2015-06-04 14:22:51 -07:00
parent 5cf1140944
commit 99c066c39c
1 changed files with 27 additions and 42 deletions
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69
src/drivers/hil/hil.cpp
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@ -108,6 +108,7 @@ public:
int set_mode(Mode mode);
int set_pwm_rate(unsigned rate);
int _task;
private:
static const unsigned _max_actuators = 4;
@ -115,7 +116,6 @@ private:
Mode _mode;
int _update_rate;
int _current_update_rate;
int _task;
int _t_actuators;
int _t_armed;
orb_advert_t _t_outputs;
@ -165,15 +165,15 @@ HIL *g_hil;
HIL::HIL() :
#ifdef __PX4_NUTTX
CDev(
CDev
#else
VDev(
VDev
#endif
"hilservo", PWM_OUTPUT0_DEVICE_PATH/*"/dev/hil" XXXL*/),
("hilservo", PWM_OUTPUT0_DEVICE_PATH/*"/dev/hil" XXXL*/),
_task(-1),
_mode(MODE_NONE),
_update_rate(50),
_current_update_rate(0),
_task(-1),
_t_actuators(-1),
_t_armed(-1),
_t_outputs(0),
@ -466,9 +466,9 @@ HIL::task_main()
int
HIL::control_callback(uintptr_t handle,
uint8_t control_group,
uint8_t control_index,
float &input)
uint8_t control_group,
uint8_t control_index,
float &input)
{
const actuator_controls_s *controls = (actuator_controls_s *)handle;
@ -673,7 +673,7 @@ enum PortMode {
PORT2_16PWM,
};
PortMode g_port_mode;
static PortMode g_port_mode = PORT_MODE_UNDEFINED;
int
hil_new_mode(PortMode new_mode)
@ -738,31 +738,6 @@ hil_new_mode(PortMode new_mode)
return OK;
}
int
hil_start(void)
{
int ret = OK;
if (g_hil == nullptr) {
g_hil = new HIL;
if (g_hil == nullptr) {
ret = -ENOMEM;
} else {
ret = g_hil->init();
if (ret != OK) {
delete g_hil;
g_hil = nullptr;
}
}
}
return ret;
}
int
test(void)
{
@ -828,17 +803,19 @@ hil_main(int argc, char *argv[])
const char *verb;
int ret = OK;
if (hil_start() != OK) {
warnx("failed to start the HIL driver");
return 1;
}
if (argc < 2) {
usage();
return -EINVAL;
}
verb = argv[1];
if (g_hil == nullptr) {
g_hil = new HIL;
if (g_hil == nullptr) {
return -ENOMEM;
}
}
/*
* Mode switches.
*/
@ -871,10 +848,9 @@ hil_main(int argc, char *argv[])
return OK;
/* switch modes */
return hil_new_mode(new_mode);
ret = hil_new_mode(new_mode);
}
if (!strcmp(verb, "test")) {
else if (!strcmp(verb, "test")) {
ret = test();
}
@ -886,5 +862,14 @@ hil_main(int argc, char *argv[])
usage();
ret = -EINVAL;
}
if ( ret == OK && g_hil->_task == -1 ) {
ret = g_hil->init();
if (ret != OK) {
warnx("failed to start the HIL driver");
delete g_hil;
g_hil = nullptr;
}
}
return ret;
}