/****************************************************************************
*
* 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,
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* 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
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file mixer_group.cpp
*
* Mixer collection.
*/
#include <nuttx/config.h>
#include <sys/types.h>
#include <stdint.h>
#include <stdbool.h>
#include <stdlib.h>
#include <string.h>
#include <fcntl.h>
#include <poll.h>
#include <errno.h>
#include <stdio.h>
#include <math.h>
#include <unistd.h>
#include "mixer.h"
#define debug(fmt, args...) do { } while(0)
//#define debug(fmt, args...) do { printf("[mixer] " fmt "\n", ##args); } while(0)
namespace
{
/**
* Effectively fdgets() with some extra smarts.
*/
static int
mixer_getline(int fd, char *line, unsigned maxlen)
{
/* reduce line budget by 1 to account for terminal NUL */
maxlen--;
/* loop looking for a non-comment line */
for (;;) {
int ret;
char c;
char *p = line;
/* loop reading characters for this line */
for (;;) {
ret = read(fd, &c, 1);
/* on error or EOF, return same */
if (ret <= 0) {
debug("read: EOF");
return ret;
}
/* ignore carriage returns */
if (c == '\r')
continue;
/* line termination */
if (c == '\n') {
/* ignore malformed lines */
if ((p - line) < 4)
break;
if (line[1] != ':')
break;
/* terminate line as string and return */
*p = '\0';
debug("read: '%s'", line);
return 1;
}
/* if we have space, accumulate the byte and go on */
if ((p - line) < maxlen)
*p++ = c;
}
}
}
/**
* Parse an output scaler from the buffer.
*/
static int
mixer_parse_output_scaler(const char *buf, mixer_scaler_s &scaler)
{
int s[5];
if (sscanf(buf, "O: %d %d %d %d %d",
&s[0], &s[1], &s[2], &s[3], &s[4]) != 5) {
debug("scaler parse failed on '%s'", buf);
return -1;
}
scaler.negative_scale = s[0] / 10000.0f;
scaler.positive_scale = s[1] / 10000.0f;
scaler.offset = s[2] / 10000.0f;
scaler.min_output = s[3] / 10000.0f;
scaler.max_output = s[4] / 10000.0f;
return 0;
}
/**
* Parse a control scaler from the buffer.
*/
static int
mixer_parse_control_scaler(const char *buf, mixer_scaler_s &scaler, uint8_t &control_group, uint8_t &control_index)
{
unsigned u[2];
int s[5];
if (sscanf(buf, "S: %u %u %d %d %d %d %d",
&u[0], &u[1], &s[0], &s[1], &s[2], &s[3], &s[4]) != 7) {
debug("scaler parse failed on '%s'", buf);
return -1;
}
control_group = u[0];
control_index = u[1];
scaler.negative_scale = s[0] / 10000.0f;
scaler.positive_scale = s[1] / 10000.0f;
scaler.offset = s[2] / 10000.0f;
scaler.min_output = s[3] / 10000.0f;
scaler.max_output = s[4] / 10000.0f;
return 0;
}
SimpleMixer *
mixer_load_simple(Mixer::ControlCallback control_cb, uintptr_t cb_handle, int fd, unsigned inputs)
{
mixer_simple_s *mixinfo = nullptr;
char buf[60];
int ret;
/* let's assume we're going to read a simple mixer */
mixinfo = (mixer_simple_s *)malloc(MIXER_SIMPLE_SIZE(inputs));
/* first, get the output scaler */
ret = mixer_getline(fd, buf, sizeof(buf));
if (ret < 1) {
debug("failed reading for output scaler");
goto fail;
}
if (mixer_parse_output_scaler(buf, mixinfo->output_scaler)) {
debug("failed parsing output scaler");
goto fail;
}
/* now get any inputs */
for (unsigned i = 0; i < inputs; i++) {
ret = mixer_getline(fd, buf, sizeof(buf));
if (ret < 1) {
debug("failed reading for control scaler");
goto fail;
}
if (mixer_parse_control_scaler(buf,
mixinfo->controls[i].scaler,
mixinfo->controls[i].control_group,
mixinfo->controls[i].control_index)) {
debug("failed parsing control scaler");
goto fail;
}
debug("got control %d", i);
}
/* XXX should be a factory that validates the mixinfo ... */
return new SimpleMixer(control_cb, cb_handle, mixinfo);
fail:
free(mixinfo);
return nullptr;
}
MultirotorMixer *
mixer_load_multirotor(Mixer::ControlCallback control_cb, uintptr_t cb_handle, const char *buf)
{
MultirotorMixer::Geometry geometry;
char geomname[8];
int s[4];
if (sscanf(buf, "R: %s %d %d %d %d", geomname, &s[0], &s[1], &s[2], &s[3]) != 5) {
debug("multirotor parse failed on '%s'", buf);
return nullptr;
}
if (!strcmp(geomname, "4+")) {
geometry = MultirotorMixer::QUAD_PLUS;
} else if (!strcmp(geomname, "4x")) {
geometry = MultirotorMixer::QUAD_X;
} else if (!strcmp(geomname, "6+")) {
geometry = MultirotorMixer::HEX_PLUS;
} else if (!strcmp(geomname, "6x")) {
geometry = MultirotorMixer::HEX_X;
} else if (!strcmp(geomname, "8+")) {
geometry = MultirotorMixer::OCTA_PLUS;
} else if (!strcmp(geomname, "8x")) {
geometry = MultirotorMixer::OCTA_X;
} else {
debug("unrecognised geometry '%s'", geomname);
return nullptr;
}
return new MultirotorMixer(
control_cb,
cb_handle,
geometry,
s[0] / 10000.0f,
s[1] / 10000.0f,
s[2] / 10000.0f,
s[3] / 10000.0f);
}
int
mixer_load(Mixer::ControlCallback control_cb, uintptr_t cb_handle, int fd, Mixer *&mixer)
{
int ret;
char buf[60];
unsigned inputs;
ret = mixer_getline(fd, buf, sizeof(buf));
/* end of file or error ?*/
if (ret < 1) {
debug("getline %d", ret);
return ret;
}
/* slot is empty - allocate a null mixer */
if (buf[0] == 'Z') {
debug("got null mixer");
mixer = new NullMixer();
return 1;
}
/* is it a simple mixer? */
if (sscanf(buf, "M: %u", &inputs) == 1) {
debug("got simple mixer with %d inputs", inputs);
mixer = mixer_load_simple(control_cb, cb_handle, fd, inputs);
return (mixer == nullptr) ? -1 : 1;
}
/* is it a multirotor mixer? */
if (buf[0] == 'R') {
debug("got a multirotor mixer");
mixer = mixer_load_multirotor(control_cb, cb_handle, buf);
return (mixer == nullptr) ? -1 : 1;
}
/* we don't recognise the mixer type */
debug("unrecognized mixer type '%c'", buf[0]);
return -1;
}
} // namespace
MixerGroup::MixerGroup(ControlCallback control_cb, uintptr_t cb_handle) :
Mixer(control_cb, cb_handle),
_first(nullptr)
{
}
MixerGroup::~MixerGroup()
{
Mixer *mixer;
/* discard sub-mixers */
while (_first != nullptr) {
mixer = _first;
_first = mixer->_next;
delete mixer;
}
}
void
MixerGroup::add_mixer(Mixer *mixer)
{
Mixer **mpp;
mpp = &_first;
while (*mpp != nullptr)
mpp = &((*mpp)->_next);
*mpp = mixer;
mixer->_next = nullptr;
}
unsigned
MixerGroup::mix(float *outputs, unsigned space)
{
Mixer *mixer = _first;
unsigned index = 0;
while ((mixer != nullptr) && (index < space)) {
index += mixer->mix(outputs + index, space - index);
mixer = mixer->_next;
}
return index;
}
void
MixerGroup::groups_required(uint32_t &groups)
{
Mixer *mixer = _first;
while (mixer != nullptr) {
mixer->groups_required(groups);
mixer = mixer->_next;
}
}
int
MixerGroup::load_from_file(const char *path)
{
if (_first != nullptr)
return -1;
int fd = open(path, O_RDONLY);
if (fd < 0) {
debug("failed to open %s", path);
return -1;
}
for (unsigned count = 0;; count++) {
int result;
Mixer *mixer;
result = mixer_load(_control_cb,
_cb_handle,
fd,
mixer);
/* error? */
if (result < 0) {
debug("error");
return -1;
}
/* EOF or error */
if (result < 1) {
printf("[mixer] loaded %u mixers\n", count);
debug("EOF");
break;
}
debug("loaded mixer %p", mixer);
add_mixer(mixer);
}
close(fd);
return 0;
}