Rework the mixer architecture based on discussions about arbitrary geometry mixing and plugins.

Now the mixer is a C++ library that can be fairly easily bolted into an output driver to provide mixing services.

Teach the FMU driver how to use it as an example.  More testing is still required.

1 files changed, 6 insertions, 255 deletions

diff --git a/apps/systemcmds/mixer/mixer.c b/apps/systemcmds/mixer/mixer.c
index bdf54bc20..9d52557e7 100644
--- a/apps/systemcmds/mixer/mixer.c
+++ b/apps/systemcmds/mixer/mixer.c
@@ -44,7 +44,6 @@
 #include <fcntl.h>
 #include <errno.h>
 
-#include <systemlib/mixer.h>
 #include <drivers/drv_mixer.h>
 #include <uORB/topics/actuator_controls.h>
 
@@ -52,8 +51,6 @@ __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[])
@@ -67,18 +64,6 @@ mixer_main(int argc, char *argv[])
 
 		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");
 	}
@@ -93,146 +78,15 @@ usage(const char *reason)
 		fprintf(stderr, "%s\n", reason);
 
 	fprintf(stderr, "usage:\n");
-	fprintf(stderr, "  mixer show <device>\n");
-	fprintf(stderr, "  mixer {load|save} <device> [<filename>]\n");
+	fprintf(stderr, "  mixer load <device> <filename>\n");
+	/* XXX automatic setups for quad, etc. */
 	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 mixer_s	*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_CONTROL_GROUPS, 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 */
@@ -241,120 +95,17 @@ save(const char *devname, const char *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;
-	}
-
-	/* 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 mixer_s *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;
+	/* tell it to load the file */
+	ret = ioctl(dev, MIXERIOCLOADFILE, (unsigned long)fname);
+	if (ret != 0) {
+		fprintf(stderr, "failed loading %s\n", fname);
 	}
 
 	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("(%u,%u)   %8.4f   %8.4f   %8.4f   %8.4f   %8.4f\n",
-			       mi->mixer.control_scaler[j].control_group,
-			       mi->mixer.control_scaler[j].control_index,
-			       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);
-}