/****************************************************************************
*
* Copyright (c) 2013 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 roboclaw_main.cpp
*
* RoboClaw Motor Driver
*
* references:
* http://downloads.orionrobotics.com/downloads/datasheets/motor_controller_robo_claw_R0401.pdf
*
*/
#include <nuttx/config.h>
#include <unistd.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <math.h>
#include <systemlib/systemlib.h>
#include <systemlib/param/param.h>
#include <arch/board/board.h>
#include "RoboClaw.hpp"
static bool thread_should_exit = false; /**< Deamon exit flag */
static bool thread_running = false; /**< Deamon status flag */
static int deamon_task; /**< Handle of deamon task / thread */
/**
* Deamon management function.
*/
extern "C" __EXPORT int roboclaw_main(int argc, char *argv[]);
/**
* Mainloop of deamon.
*/
int roboclaw_thread_main(int argc, char *argv[]);
/**
* Print the correct usage.
*/
static void usage();
static void usage()
{
fprintf(stderr, "usage: roboclaw "
"{start|stop|status|test}\n\n");
}
/**
* The deamon app only briefly exists to start
* the background job. The stack size assigned in the
* Makefile does only apply to this management task.
*
* The actual stack size should be set in the call
* to task_create().
*/
int roboclaw_main(int argc, char *argv[])
{
if (argc < 1)
usage();
if (!strcmp(argv[1], "start")) {
if (thread_running) {
printf("roboclaw already running\n");
/* this is not an error */
exit(0);
}
thread_should_exit = false;
deamon_task = task_spawn_cmd("roboclaw",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 10,
2048,
roboclaw_thread_main,
(char * const *)argv);
exit(0);
} else if (!strcmp(argv[1], "test")) {
const char * deviceName = "/dev/ttyS2";
uint8_t address = 128;
uint16_t pulsesPerRev = 1200;
if (argc == 2) {
printf("testing with default settings\n");
} else if (argc != 4) {
printf("usage: roboclaw test device address pulses_per_rev\n");
exit(-1);
} else {
deviceName = argv[2];
address = strtoul(argv[3], nullptr, 0);
pulsesPerRev = strtoul(argv[4], nullptr, 0);
}
printf("device:\t%s\taddress:\t%d\tpulses per rev:\t%ld\n",
deviceName, address, pulsesPerRev);
roboclawTest(deviceName, address, pulsesPerRev);
thread_should_exit = true;
exit(0);
} else if (!strcmp(argv[1], "stop")) {
thread_should_exit = true;
exit(0);
} else if (!strcmp(argv[1], "status")) {
if (thread_running) {
printf("\troboclaw app is running\n");
} else {
printf("\troboclaw app not started\n");
}
exit(0);
}
usage();
exit(1);
}
int roboclaw_thread_main(int argc, char *argv[])
{
printf("[roboclaw] starting\n");
// skip parent process args
argc -=2;
argv +=2;
if (argc < 3) {
printf("usage: roboclaw start device address\n");
return -1;
}
const char *deviceName = argv[1];
uint8_t address = strtoul(argv[2], nullptr, 0);
uint16_t pulsesPerRev = strtoul(argv[3], nullptr, 0);
printf("device:\t%s\taddress:\t%d\tpulses per rev:\t%ld\n",
deviceName, address, pulsesPerRev);
// start
RoboClaw roboclaw(deviceName, address, pulsesPerRev);
thread_running = true;
// loop
while (!thread_should_exit) {
roboclaw.update();
}
// exit
printf("[roboclaw] exiting.\n");
thread_running = false;
return 0;
}
// vi:noet:smarttab:autoindent:ts=4:sw=4:tw=78
