/****************************************************************************
*
* 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 utility.
*/
#include <string.h>
#include <stdlib.h>
#include <stdio.h>
#include <unistd.h>
#include <fcntl.h>
#include <errno.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(const char *reason);
static void load(const char *devname, const char *fname);
static void save(const char *devname, const char *fname);
static void show(const char *devname);
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]);
} else if (!strcmp(argv[1], "save")) {
if (argc < 4)
usage("missing device or filename");
save(argv[2], argv[3]);
} else if (!strcmp(argv[1], "show")) {
if (argc < 3)
usage("missing device name");
show(argv[2]);
} else {
usage("unrecognised command");
}
return 0;
}
static void
usage(const char *reason)
{
if (reason)
fprintf(stderr, "%s\n", reason);
fprintf(stderr, "usage:\n");
fprintf(stderr, " mixer show <device>\n");
fprintf(stderr, " mixer {load|save} <device> [<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 = NULL;
/* 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) {
fprintf(stderr, "read for mixer %d failed\n", i);
goto out;
}
/* end of file? */
if (ret == 0)
break;
if (mixer != NULL) {
/* sanity check the mixer */
ret = mixer_check(mixer, NUM_ACTUATOR_CONTROLS);
if (ret != 0) {
fprintf(stderr, "mixer %u fails sanity check %d\n", i, ret);
goto out;
}
/* send the mixer to the device */
ret = ioctl(dev, MIXERIOCSETMIXER(i), (unsigned long)mixer);
if (ret < 0) {
fprintf(stderr, "mixer %d set failed\n", i);
goto out;
}
free(mixer);
mixer = NULL;
} else {
/* delete the mixer */
ret = ioctl(dev, MIXERIOCSETMIXER(i), 0);
if (ret < 0) {
fprintf(stderr, "mixer %d clear failed\n", i);
goto out;
}
}
}
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 = (struct MixInfo *)malloc(MIXINFO_SIZE(0));
mi->num_controls = 0;
}
/* 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)
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++) {
struct MixMixer *mm;
ret = getmixer(dev, i, &mi);
mm = &mi->mixer;
if (ret < 0) {
if (errno != ENOENT)
goto out;
mm = NULL;
}
ret = mixer_save(defs, mm);
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 = NULL;
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) {
if (errno != ENOENT)
goto out;
continue;
}
printf("mixer %d:\n", i);
printf(" -ve scale +ve scale offset low limit high limit\n");
printf("output %8.4f %8.4f %8.4f %8.4f %8.4f\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: %8.4f %8.4f %8.4f %8.4f %8.4f\n",
j,
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:
printf("done\n");
usleep(100000);
/* free the mixinfo */
if (mi != NULL)
free(mi);
if (dev != -1)
close(dev);
exit(0);
}
