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/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file mixer.c
*
* Mixer utility.
*/
#include <string.h>
#include <stdlib.h>
#include <stdio.h>
#include <unistd.h>
#include <fcntl.h>
#include <errno.h>
#include <ctype.h>
#include <nuttx/compiler.h>
#include <systemlib/err.h>
#include <drivers/drv_mixer.h>
#include <uORB/topics/actuator_controls.h>
__EXPORT int mixer_main(int argc, char *argv[]);
static void usage(const char *reason) noreturn_function;
static void load(const char *devname, const char *fname) noreturn_function;
int
mixer_main(int argc, char *argv[])
{
if (argc < 2)
usage("missing command");
if (!strcmp(argv[1], "load")) {
if (argc < 4)
usage("missing device or filename");
load(argv[2], argv[3]);
}
usage("unrecognised command");
}
static void
usage(const char *reason)
{
if (reason)
fprintf(stderr, "%s\n", reason);
fprintf(stderr, "usage:\n");
fprintf(stderr, " mixer load <device> <filename>\n");
/* XXX other useful commands? */
exit(1);
}
static void
load(const char *devname, const char *fname)
{
int dev;
FILE *fp;
char line[80];
char buf[512];
/* open the device */
if ((dev = open(devname, 0)) < 0)
err(1, "can't open %s\n", devname);
/* reset mixers on the device */
if (ioctl(dev, MIXERIOCRESET, 0))
err(1, "can't reset mixers on %s", devname);
/* open the mixer definition file */
fp = fopen(fname, "r");
if (fp == NULL)
err(1, "can't open %s", fname);
/* read valid lines from the file into a buffer */
buf[0] = '\0';
for (;;) {
/* get a line, bail on error/EOF */
line[0] = '\0';
if (fgets(line, sizeof(line), fp) == NULL)
break;
/* if the line doesn't look like a mixer definition line, skip it */
if ((strlen(line) < 2) || !isupper(line[0]) || (line[1] != ':'))
continue;
/* compact whitespace in the buffer */
char *t, *f;
for (f = buf; *f != '\0'; f++) {
/* scan for space characters */
if (*f == ' ') {
/* look for additional spaces */
t = f + 1;
while (*t == ' ')
t++;
if (*t == '\0') {
/* strip trailing whitespace */
*f = '\0';
} else if (t > (f + 1)) {
memmove(f + 1, t, strlen(t) + 1);
}
}
}
/* if the line is too long to fit in the buffer, bail */
if ((strlen(line) + strlen(buf) + 1) >= sizeof(buf))
break;
/* add the line to the buffer */
strcat(buf, line);
}
/* XXX pass the buffer to the device */
int ret = ioctl(dev, MIXERIOCLOADBUF, (unsigned long)buf);
if (ret < 0)
err(1, "error loading mixers from %s", fname);
exit(0);
}
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