forked from Archive/PX4-Autopilot
mb12xx: convert to using RingBuffer class
This commit is contained in:
Andrew Tridgell
Lorenz Meier
parent
63fb702d7f
commit
b8ffb574ca
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@ -64,6 +64,7 @@
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#include <drivers/drv_hrt.h>
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#include <drivers/drv_range_finder.h>
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#include <drivers/device/ringbuffer.h>
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#include <uORB/uORB.h>
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#include <uORB/topics/subsystem_info.h>
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@ -119,10 +120,7 @@ private:
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float _min_distance;
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float _max_distance;
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work_s _work;
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unsigned _num_reports;
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volatile unsigned _next_report;
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volatile unsigned _oldest_report;
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range_finder_report *_reports;
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RingBuffer<struct range_finder_report> *_reports;
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bool _sensor_ok;
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int _measure_ticks;
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bool _collect_phase;
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@ -183,9 +181,6 @@ private:
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};
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/* helper macro for handling report buffer indices */
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#define INCREMENT(_x, _lim) do { __typeof__(_x) _tmp = _x+1; if (_tmp >= _lim) _tmp = 0; _x = _tmp; } while(0)
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/*
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* Driver 'main' command.
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*/
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@ -195,9 +190,6 @@ MB12XX::MB12XX(int bus, int address) :
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I2C("MB12xx", RANGE_FINDER_DEVICE_PATH, bus, address, 100000),
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_min_distance(MB12XX_MIN_DISTANCE),
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_max_distance(MB12XX_MAX_DISTANCE),
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_num_reports(0),
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_next_report(0),
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_oldest_report(0),
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_reports(nullptr),
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_sensor_ok(false),
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_measure_ticks(0),
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@ -221,7 +213,7 @@ MB12XX::~MB12XX()
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/* free any existing reports */
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if (_reports != nullptr)
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delete[] _reports;
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delete _reports;
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}
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int
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@ -234,17 +226,15 @@ MB12XX::init()
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goto out;
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/* allocate basic report buffers */
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_num_reports = 2;
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_reports = new struct range_finder_report[_num_reports];
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_reports = new RingBuffer<struct range_finder_report>(2);
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if (_reports == nullptr)
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goto out;
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_oldest_report = _next_report = 0;
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/* get a publish handle on the range finder topic */
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memset(&_reports[0], 0, sizeof(_reports[0]));
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_range_finder_topic = orb_advertise(ORB_ID(sensor_range_finder), &_reports[0]);
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struct range_finder_report zero_report;
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memset(&zero_report, 0, sizeof(zero_report));
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_range_finder_topic = orb_advertise(ORB_ID(sensor_range_finder), &zero_report);
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if (_range_finder_topic < 0)
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debug("failed to create sensor_range_finder object. Did you start uOrb?");
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@ -354,31 +344,22 @@ MB12XX::ioctl(struct file *filp, int cmd, unsigned long arg)
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return (1000 / _measure_ticks);
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case SENSORIOCSQUEUEDEPTH: {
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/* add one to account for the sentinel in the ring */
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arg++;
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/* lower bound is mandatory, upper bound is a sanity check */
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if ((arg < 2) || (arg > 100))
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return -EINVAL;
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/* allocate new buffer */
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struct range_finder_report *buf = new struct range_finder_report[arg];
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if (nullptr == buf)
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return -ENOMEM;
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/* reset the measurement state machine with the new buffer, free the old */
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stop();
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delete[] _reports;
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_num_reports = arg;
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_reports = buf;
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start();
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return OK;
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/* lower bound is mandatory, upper bound is a sanity check */
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if ((arg < 1) || (arg > 100))
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return -EINVAL;
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irqstate_t flags = irqsave();
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if (!_reports->resize(arg)) {
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irqrestore(flags);
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return -ENOMEM;
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}
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irqrestore(flags);
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return OK;
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}
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case SENSORIOCGQUEUEDEPTH:
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return _num_reports - 1;
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return _reports->size();
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case SENSORIOCRESET:
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/* XXX implement this */
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@ -406,6 +387,7 @@ ssize_t
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MB12XX::read(struct file *filp, char *buffer, size_t buflen)
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{
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unsigned count = buflen / sizeof(struct range_finder_report);
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struct range_finder_report *rbuf = reinterpret_cast<struct range_finder_report *>(buffer);
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int ret = 0;
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/* buffer must be large enough */
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@ -421,10 +403,9 @@ MB12XX::read(struct file *filp, char *buffer, size_t buflen)
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* we are careful to avoid racing with them.
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*/
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while (count--) {
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if (_oldest_report != _next_report) {
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memcpy(buffer, _reports + _oldest_report, sizeof(*_reports));
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ret += sizeof(_reports[0]);
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INCREMENT(_oldest_report, _num_reports);
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if (_reports->get(*rbuf)) {
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ret += sizeof(*rbuf);
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rbuf++;
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}
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}
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@ -433,9 +414,8 @@ MB12XX::read(struct file *filp, char *buffer, size_t buflen)
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}
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/* manual measurement - run one conversion */
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/* XXX really it'd be nice to lock against other readers here */
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do {
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_oldest_report = _next_report = 0;
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_reports->flush();
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/* trigger a measurement */
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if (OK != measure()) {
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@ -453,8 +433,9 @@ MB12XX::read(struct file *filp, char *buffer, size_t buflen)
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}
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/* state machine will have generated a report, copy it out */
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memcpy(buffer, _reports, sizeof(*_reports));
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ret = sizeof(*_reports);
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if (_reports->get(*rbuf)) {
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ret = sizeof(*rbuf);
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}
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} while (0);
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@ -498,26 +479,25 @@ MB12XX::collect()
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if (ret < 0)
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{
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log("error reading from sensor: %d", ret);
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perf_count(_comms_errors);
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perf_end(_sample_perf);
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return ret;
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}
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uint16_t distance = val[0] << 8 | val[1];
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float si_units = (distance * 1.0f)/ 100.0f; /* cm to m */
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struct range_finder_report report;
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/* this should be fairly close to the end of the measurement, so the best approximation of the time */
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_reports[_next_report].timestamp = hrt_absolute_time();
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_reports[_next_report].distance = si_units;
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_reports[_next_report].valid = si_units > get_minimum_distance() && si_units < get_maximum_distance() ? 1 : 0;
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report.timestamp = hrt_absolute_time();
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report.distance = si_units;
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report.valid = si_units > get_minimum_distance() && si_units < get_maximum_distance() ? 1 : 0;
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/* publish it */
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orb_publish(ORB_ID(sensor_range_finder), _range_finder_topic, &_reports[_next_report]);
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orb_publish(ORB_ID(sensor_range_finder), _range_finder_topic, &report);
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/* post a report to the ring - note, not locked */
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INCREMENT(_next_report, _num_reports);
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/* if we are running up against the oldest report, toss it */
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if (_next_report == _oldest_report) {
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if (_reports->force(report)) {
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perf_count(_buffer_overflows);
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INCREMENT(_oldest_report, _num_reports);
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}
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/* notify anyone waiting for data */
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@ -525,11 +505,8 @@ MB12XX::collect()
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ret = OK;
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out:
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perf_end(_sample_perf);
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return ret;
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return ret;
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}
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void
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@ -537,7 +514,7 @@ MB12XX::start()
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{
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/* reset the report ring and state machine */
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_collect_phase = false;
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_oldest_report = _next_report = 0;
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_reports->flush();
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/* schedule a cycle to start things */
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work_queue(HPWORK, &_work, (worker_t)&MB12XX::cycle_trampoline, this, 1);
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@ -626,8 +603,7 @@ MB12XX::print_info()
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perf_print_counter(_comms_errors);
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perf_print_counter(_buffer_overflows);
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printf("poll interval: %u ticks\n", _measure_ticks);
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printf("report queue: %u (%u/%u @ %p)\n",
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_num_reports, _oldest_report, _next_report, _reports);
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_reports->print_info("report queue");
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}
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/**
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