/****************************************************************************
*
* 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
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* 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 utility.
*/
#include <string.h>
#include <stdlib.h>
#include <stdio.h>
#include <getopt.h>
#include <unistd.h>
#include <fcntl.h>
#include <systemlib/mixer.h>
#include <drivers/drv_mixer.h>
#include <uORB/topics/actuator_controls.h>
__EXPORT int mixer_main(int argc, char *argv[]);
static void usage(void);
static void load(const char *devname, const char *fname);
static void save(const char *devname, const char *fname);
static void show(const char *devname);
enum Operation {
LOAD,
SAVE,
SHOW,
NONE
};
int
mixer_main(int argc, char *argv[])
{
const char *devname = NULL;
const char *fname = NULL;
int ch;
enum Operation todo = NONE;
if (argc < 2)
usage();
if (!strcmp(argv[1], "load")) {
todo = LOAD;
} else if (!strcmp(argv[1], "save")) {
todo = SAVE;
} else if (!strcmp(argv[1], "show")) {
todo = SHOW;
} else {
usage();
}
while ((ch = getopt(argc, argv, "d:f:")) != EOF) {
switch (ch) {
case 'd':
devname = optarg;
break;
case 'f':
fname = optarg;
break;
default:
usage();
}
}
switch (todo) {
case LOAD:
if ((devname == NULL) || (fname == NULL))
usage();
load(devname, fname);
break;
case SAVE:
if ((devname == NULL) || (fname == NULL))
usage();
save(devname, fname);
break;
case SHOW:
if (devname == NULL)
usage();
show(devname);
break;
default:
exit(1);
}
return 0;
}
static void
usage(void)
{
fprintf(stderr, "usage:\n");
fprintf(stderr, " mixer {load|save|show} -d <device> [-f <filename>]\n");
exit(1);
}
static void
load(const char *devname, const char *fname)
{
int defs = -1;
int dev = -1;
unsigned num_mixers = 0;
int ret, result = 1;
struct MixMixer *mixer;
/* open the device */
if ((dev = open(devname, 0)) < 0) {
fprintf(stderr, "can't open %s\n", devname);
goto out;
}
/* open the definition file */
if ((defs = open(fname, O_RDONLY)) < 0) {
fprintf(stderr, "can't open %s\n", fname);
goto out;
}
/* find out how many mixers the device supports */
ioctl(dev, MIXERIOCGETMIXERCOUNT, (unsigned long)&num_mixers);
if (num_mixers < 1) {
fprintf(stderr, "can't get mixer count from %s\n", devname);
goto out;
}
/* send mixers to the device */
for (unsigned i = 0; i < num_mixers; i++) {
ret = mixer_load(defs, &mixer);
if (ret < 0)
goto out;
/* end of file? */
if (ret == 0)
break;
/* sanity check the mixer */
if (mixer_check(mixer, NUM_ACTUATOR_CONTROLS)) {
fprintf(stderr, "mixer %u fails sanity check\n", i);
goto out;
}
/* send the mixer to the device */
ret = ioctl(dev, MIXERIOCSETMIXER(i), (unsigned long)mixer);
if (ret < 0)
goto out;
free(mixer);
mixer = NULL;
}
printf("mixer: loaded %d mixers to %s\n", num_mixers, devname);
result = 0;
out:
/* free the mixers array */
if (mixer != NULL)
free(mixer);
if (defs != -1)
close(defs);
if (dev != -1)
close(dev);
exit(result);
}
static int
getmixer(int dev, unsigned mixer_number, struct MixInfo **mip)
{
struct MixInfo *mi = *mip;
int ret;
/* first-round initialisation */
if (mi == NULL) {
mi->num_controls = 0;
mi = (struct MixInfo *)malloc(MIXINFO_SIZE(mi->num_controls));
}
/* loop trying to get the next mixer until the buffer is big enough */
do {
/* try to get the mixer into the buffer as it stands */
ret = ioctl(dev, MIXERIOCGETMIXER(mixer_number), (unsigned long)mi);
if (ret < 0) {
fprintf(stderr, "MIXERIOCGETMIXER error\n");
return -1;
}
/* did the mixer fit? */
if (mi->mixer.control_count <= mi->num_controls)
break;
/* re-allocate to suit */
mi->num_controls = mi->mixer.control_count;
mi = (struct MixInfo *)realloc(mi, MIXINFO_SIZE(mi->num_controls));
/* oops, blew up the heap */
if (mi == NULL)
return -1;
} while(true);
*mip = mi;
return 0;
}
static void
save(const char *devname, const char *fname)
{
struct MixInfo *mi = NULL;
int defs = -1;
int dev = -1;
unsigned num_mixers = 0;
int ret, result = 1;
/* open the device */
if ((dev = open(devname, 0)) < 0) {
fprintf(stderr, "can't open %s\n", devname);
goto out;
}
/* find out how many mixers the device supports */
ioctl(dev, MIXERIOCGETMIXERCOUNT, (unsigned long)&num_mixers);
if (num_mixers < 1) {
fprintf(stderr, "can't get mixer count from %s\n", devname);
goto out;
}
/* open the definition file */
if ((defs = open(fname, O_WRONLY | O_CREAT)) < 0) {
fprintf(stderr, "can't open %s\n", fname);
goto out;
}
/* get mixers from the device and save them */
for (unsigned i = 0; i < num_mixers; i++) {
ret = getmixer(dev, i, &mi);
if (ret < 0)
goto out;
ret = mixer_save(defs, &mi->mixer);
if (ret < 0)
goto out;
}
result = 0;
out:
/* free the mixinfo */
if (mi != NULL)
free(mi);
if (defs != -1)
close(defs);
if (dev != -1)
close(dev);
exit(result);
}
static void
show(const char *devname)
{
struct MixInfo *mi;
int dev = -1;
unsigned num_mixers = 0;
int ret;
/* open the device */
if ((dev = open(devname, 0)) < 0) {
fprintf(stderr, "can't open %s\n", devname);
goto out;
}
/* find out how many mixers the device supports */
ioctl(dev, MIXERIOCGETMIXERCOUNT, (unsigned long)&num_mixers);
if (num_mixers < 1) {
fprintf(stderr, "can't get mixer count from %s\n", devname);
goto out;
}
/* get mixers from the device and print them */
for (unsigned i = 0; i < num_mixers; i++) {
ret = getmixer(dev, i, &mi);
if (ret < 0)
goto out;
printf("mixer %d : %d controls\n", i, mi->mixer.control_count);
printf(" -ve scale +ve scale offset low limit high limit");
printf("output %f %f %f %f %f\n",
mi->mixer.output_scaler.negative_scale,
mi->mixer.output_scaler.positive_scale,
mi->mixer.output_scaler.offset,
mi->mixer.output_scaler.lower_limit,
mi->mixer.output_scaler.upper_limit);
for (unsigned j = 0; j < mi->mixer.control_count; j++) {
printf("%d: %f %f %f %f %f\n",
mi->mixer.control_scaler[j].negative_scale,
mi->mixer.control_scaler[j].positive_scale,
mi->mixer.control_scaler[j].offset,
mi->mixer.control_scaler[j].lower_limit,
mi->mixer.control_scaler[j].upper_limit);
}
}
out:
/* free the mixinfo */
if (mi != NULL)
free(mi);
if (dev != -1)
close(dev);
exit(0);
}
