diff options
author | Lorenz Meier <lm@inf.ethz.ch> | 2013-01-07 17:50:49 +0100 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-01-07 17:50:49 +0100 |
commit | 41f657e3e50cfb091b1ae7ab05c48246e48e6779 (patch) | |
tree | 6f4ff29d031ce5ecd76a5d16fc498a6b67e69d26 /apps/systemlib | |
parent | e4bfd78847283491309328e54acc3ffdd4073712 (diff) | |
parent | 659543f852d18197f68fafee5db5671567b74f4b (diff) | |
download | px4-firmware-41f657e3e50cfb091b1ae7ab05c48246e48e6779.tar.gz px4-firmware-41f657e3e50cfb091b1ae7ab05c48246e48e6779.tar.bz2 px4-firmware-41f657e3e50cfb091b1ae7ab05c48246e48e6779.zip |
Merged with master
Diffstat (limited to 'apps/systemlib')
-rw-r--r-- | apps/systemlib/mixer/mixer.cpp | 88 | ||||
-rw-r--r-- | apps/systemlib/mixer/mixer.h | 146 | ||||
-rw-r--r-- | apps/systemlib/mixer/mixer_group.cpp | 343 | ||||
-rw-r--r-- | apps/systemlib/mixer/mixer_multirotor.cpp | 68 | ||||
-rw-r--r-- | apps/systemlib/mixer/mixer_simple.cpp | 334 |
5 files changed, 584 insertions, 395 deletions
diff --git a/apps/systemlib/mixer/mixer.cpp b/apps/systemlib/mixer/mixer.cpp index 6c1bbe469..72f765d90 100644 --- a/apps/systemlib/mixer/mixer.cpp +++ b/apps/systemlib/mixer/mixer.cpp @@ -137,89 +137,15 @@ NullMixer::groups_required(uint32_t &groups) } -/****************************************************************************/ - -SimpleMixer::SimpleMixer(ControlCallback control_cb, - uintptr_t cb_handle, - mixer_simple_s *mixinfo) : - Mixer(control_cb, cb_handle), - _info(mixinfo) -{ -} - -SimpleMixer::~SimpleMixer() -{ - if (_info != nullptr) - free(_info); -} - -unsigned -SimpleMixer::mix(float *outputs, unsigned space) +NullMixer * +NullMixer::from_text(const char *buf, unsigned &buflen) { - float sum = 0.0f; - - if (_info == nullptr) - return 0; - - if (space < 1) - return 0; - - for (unsigned i = 0; i < _info->control_count; i++) { - float input; + NullMixer *nm = nullptr; - _control_cb(_cb_handle, - _info->controls[i].control_group, - _info->controls[i].control_index, - input); - - sum += scale(_info->controls[i].scaler, input); + if ((buflen >= 2) && (buf[0] == 'Z') && (buf[1] == ':')) { + nm = new NullMixer; + buflen -= 2; } - *outputs = scale(_info->output_scaler, sum); - return 1; -} - -void -SimpleMixer::groups_required(uint32_t &groups) -{ - for (unsigned i = 0; i < _info->control_count; i++) - groups |= 1 << _info->controls[i].control_group; -} - -int -SimpleMixer::check() -{ - int ret; - float junk; - - /* sanity that presumes that a mixer includes a control no more than once */ - /* max of 32 groups due to groups_required API */ - if (_info->control_count > 32) - return -2; - - /* validate the output scaler */ - ret = scale_check(_info->output_scaler); - - if (ret != 0) - return ret; - - /* validate input scalers */ - for (unsigned i = 0; i < _info->control_count; i++) { - - /* verify that we can fetch the control */ - if (_control_cb(_cb_handle, - _info->controls[i].control_group, - _info->controls[i].control_index, - junk) != 0) { - return -3; - } - - /* validate the scaler */ - ret = scale_check(_info->controls[i].scaler); - - if (ret != 0) - return (10 * i + ret); - } - - return 0; + return nm; } diff --git a/apps/systemlib/mixer/mixer.h b/apps/systemlib/mixer/mixer.h index 94c179eba..00ddf1581 100644 --- a/apps/systemlib/mixer/mixer.h +++ b/apps/systemlib/mixer/mixer.h @@ -234,50 +234,51 @@ public: void add_mixer(Mixer *mixer); /** - * Reads a mixer definition from a file and configures a corresponding - * group. - * - * The mixer group must be empty when this function is called. - * - * A mixer definition is a text representation of the configuration of a - * mixer. Definition lines begin with a capital letter followed by a colon. + * Remove all the mixers from the group. + */ + void reset(); + + /** + * Adds mixers to the group based on a text description in a buffer. * - * Null Mixer: + * Mixer definitions begin with a single capital letter and a colon. + * The actual format of the mixer definition varies with the individual + * mixers; they are summarised here, but see ROMFS/mixers/README for + * more details. * - * Z: + * Null Mixer + * .......... * - * This mixer generates a constant zero output, and is normally used to - * skip over outputs that are not in use. + * The null mixer definition has the form: * - * Simple Mixer: + * Z: * - * M: <scaler count> - * S: <control group> <control index> <negative_scale*> <positive_scale*> <offset*> <lower_limit*> <upper_limit*> - * S: ... + * Simple Mixer + * ............ * - * The definition consists of a single-line header indicating the - * number of scalers and then one line defining each scaler. The first - * scaler in the file is always the output scaler, followed by the input - * scalers. + * A simple mixer definition begins with: * - * The <control ...> values for the output scaler are ignored by the mixer. + * M: <control count> + * O: <-ve scale> <+ve scale> <offset> <lower limit> <upper limit> * + * The definition continues with <control count> entries describing the control + * inputs and their scaling, in the form: * + * S: <group> <index> <-ve scale> <+ve scale> <offset> <lower limit> <upper limit> * - * Values marked * are integers representing floating point values; values are - * scaled by 10000 on load/save. + * Multirotor Mixer + * ................ * - * Multiple mixer definitions may be stored in a single file; it is assumed that - * the reader will know how many to expect and read accordingly. + * The multirotor mixer definition is a single line of the form: * - * A mixer entry with a scaler count of zero indicates a disabled mixer. This - * will return NULL for the mixer when processed by this function, and will be - * generated by passing NULL as the mixer to mixer_save. + * R: <geometry> <roll scale> <pitch scale> <yaw scale> <deadband> * - * @param path The mixer configuration file to read. + * @param buf The mixer configuration buffer. + * @param buflen The length of the buffer, updated to reflect + * bytes as they are consumed. * @return Zero on successful load, nonzero otherwise. */ - int load_from_file(const char *path); + int load_from_buf(const char *buf, unsigned &buflen); private: Mixer *_first; /**< linked list of mixers */ @@ -294,6 +295,21 @@ public: NullMixer(); ~NullMixer() {}; + /** + * Factory method. + * + * Given a pointer to a buffer containing a text description of the mixer, + * returns a pointer to a new instance of the mixer. + * + * @param buf Buffer containing a text description of + * the mixer. + * @param buflen Length of the buffer in bytes, adjusted + * to reflect the bytes consumed. + * @return A new NullMixer instance, or nullptr + * if the text format is bad. + */ + static NullMixer *from_text(const char *buf, unsigned &buflen); + virtual unsigned mix(float *outputs, unsigned space); virtual void groups_required(uint32_t &groups); }; @@ -318,6 +334,47 @@ public: mixer_simple_s *mixinfo); ~SimpleMixer(); + /** + * Factory method with full external configuration. + * + * Given a pointer to a buffer containing a text description of the mixer, + * returns a pointer to a new instance of the mixer. + * + * @param control_cb The callback to invoke when fetching a + * control value. + * @param cb_handle Handle passed to the control callback. + * @param buf Buffer containing a text description of + * the mixer. + * @param buflen Length of the buffer in bytes, adjusted + * to reflect the bytes consumed. + * @return A new SimpleMixer instance, or nullptr + * if the text format is bad. + */ + static SimpleMixer *from_text(Mixer::ControlCallback control_cb, + uintptr_t cb_handle, + const char *buf, + unsigned &buflen); + + /** + * Factory method for PWM/PPM input to internal float representation. + * + * @param control_cb The callback to invoke when fetching a + * control value. + * @param cb_handle Handle passed to the control callback. + * @param input The control index used when fetching the input. + * @param min The PWM/PPM value considered to be "minimum" (gives -1.0 out) + * @param mid The PWM/PPM value considered to be the midpoint (gives 0.0 out) + * @param max The PWM/PPM value considered to be "maximum" (gives 1.0 out) + * @return A new SimpleMixer instance, or nullptr if one could not be + * allocated. + */ + static SimpleMixer *pwm_input(Mixer::ControlCallback control_cb, + uintptr_t cb_handle, + unsigned input, + uint16_t min, + uint16_t mid, + uint16_t max); + virtual unsigned mix(float *outputs, unsigned space); virtual void groups_required(uint32_t &groups); @@ -330,10 +387,18 @@ public: * @return Zero if the mixer makes sense, nonzero otherwise. */ int check(); + protected: private: - mixer_simple_s *_info; + mixer_simple_s *_info; + + static int parse_output_scaler(const char *buf, unsigned &buflen, mixer_scaler_s &scaler); + static int parse_control_scaler(const char *buf, + unsigned &buflen, + mixer_scaler_s &scaler, + uint8_t &control_group, + uint8_t &control_index); }; /** @@ -395,6 +460,27 @@ public: float deadband); ~MultirotorMixer(); + /** + * Factory method. + * + * Given a pointer to a buffer containing a text description of the mixer, + * returns a pointer to a new instance of the mixer. + * + * @param control_cb The callback to invoke when fetching a + * control value. + * @param cb_handle Handle passed to the control callback. + * @param buf Buffer containing a text description of + * the mixer. + * @param buflen Length of the buffer in bytes, adjusted + * to reflect the bytes consumed. + * @return A new MultirotorMixer instance, or nullptr + * if the text format is bad. + */ + static MultirotorMixer *from_text(Mixer::ControlCallback control_cb, + uintptr_t cb_handle, + const char *buf, + unsigned &buflen); + virtual unsigned mix(float *outputs, unsigned space); virtual void groups_required(uint32_t &groups); diff --git a/apps/systemlib/mixer/mixer_group.cpp b/apps/systemlib/mixer/mixer_group.cpp index 19ce25553..9aeab1dcc 100644 --- a/apps/systemlib/mixer/mixer_group.cpp +++ b/apps/systemlib/mixer/mixer_group.cpp @@ -56,250 +56,6 @@ #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)); - mixinfo->control_count = 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) @@ -308,14 +64,7 @@ MixerGroup::MixerGroup(ControlCallback control_cb, uintptr_t cb_handle) : MixerGroup::~MixerGroup() { - Mixer *mixer; - - /* discard sub-mixers */ - while (_first != nullptr) { - mixer = _first; - _first = mixer->_next; - delete mixer; - } + reset(); } void @@ -332,6 +81,19 @@ MixerGroup::add_mixer(Mixer *mixer) mixer->_next = nullptr; } +void +MixerGroup::reset() +{ + Mixer *mixer; + + /* discard sub-mixers */ + while (_first != nullptr) { + mixer = _first; + _first = mixer->_next; + delete mixer; + } +} + unsigned MixerGroup::mix(float *outputs, unsigned space) { @@ -358,44 +120,63 @@ MixerGroup::groups_required(uint32_t &groups) } int -MixerGroup::load_from_file(const char *path) +MixerGroup::load_from_buf(const char *buf, unsigned &buflen) { - if (_first != nullptr) - return -1; + int ret = -1; + const char *end = buf + buflen; + + /* + * Loop until either we have emptied the buffer, or we have failed to + * allocate something when we expected to. + */ + while (buflen > 0) { + Mixer *m = nullptr; + const char *p = end - buflen; + unsigned resid = buflen; + + /* + * Use the next character as a hint to decide which mixer class to construct. + */ + switch (*p) { + case 'Z': + m = NullMixer::from_text(p, resid); + break; - int fd = open(path, O_RDONLY); + case 'M': + m = SimpleMixer::from_text(_control_cb, _cb_handle, p, resid); + break; - if (fd < 0) { - debug("failed to open %s", path); - return -1; - } + case 'R': + m = MultirotorMixer::from_text(_control_cb, _cb_handle, p, resid); + break; + + default: + /* it's probably junk or whitespace, skip a byte and retry */ + buflen--; + continue; + } - for (unsigned count = 0;; count++) { - int result; - Mixer *mixer; + /* + * If we constructed something, add it to the group. + */ + if (m != nullptr) { + add_mixer(m); - result = mixer_load(_control_cb, - _cb_handle, - fd, - mixer); + /* we constructed something */ + ret = 0; - /* error? */ - if (result < 0) { - debug("error"); - return -1; - } + /* only adjust buflen if parsing was successful */ + buflen = resid; + } else { - /* EOF or error */ - if (result < 1) { - printf("[mixer] loaded %u mixers\n", count); - debug("EOF"); + /* + * There is data in the buffer that we expected to parse, but it didn't, + * so give up for now. + */ break; } - - debug("loaded mixer %p", mixer); - add_mixer(mixer); } - close(fd); - return 0; + /* nothing more in the buffer for us now */ + return ret; } diff --git a/apps/systemlib/mixer/mixer_multirotor.cpp b/apps/systemlib/mixer/mixer_multirotor.cpp index e293b1a2f..9090dcafe 100644 --- a/apps/systemlib/mixer/mixer_multirotor.cpp +++ b/apps/systemlib/mixer/mixer_multirotor.cpp @@ -54,6 +54,11 @@ #include "mixer.h" +/* + * Clockwise: 1 + * Counter-clockwise: -1 + */ + namespace { @@ -148,6 +153,61 @@ MultirotorMixer::~MultirotorMixer() { } +MultirotorMixer * +MultirotorMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handle, const char *buf, unsigned &buflen) +{ + MultirotorMixer::Geometry geometry; + char geomname[8]; + int s[4]; + int used; + + if (sscanf(buf, "R: %s %d %d %d %d%n", geomname, &s[0], &s[1], &s[2], &s[3], &used) != 5) { + debug("multirotor parse failed on '%s'", buf); + return nullptr; + } + + if (used > (int)buflen) { + debug("multirotor spec used %d of %u", used, buflen); + return nullptr; + } + + buflen -= used; + + 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; + } + + debug("adding multirotor mixer '%s'", geomname); + + return new MultirotorMixer( + control_cb, + cb_handle, + geometry, + s[0] / 10000.0f, + s[1] / 10000.0f, + s[2] / 10000.0f, + s[3] / 10000.0f); +} + unsigned MultirotorMixer::mix(float *outputs, unsigned space) { @@ -167,10 +227,12 @@ MultirotorMixer::mix(float *outputs, unsigned space) /* keep roll, pitch and yaw control to 0 below min thrust */ if (thrust <= min_thrust) { output_factor = 0.0f; - /* linearly increase the output factor from 0 to 1 between min_thrust and startpoint_full_control */ + /* linearly increase the output factor from 0 to 1 between min_thrust and startpoint_full_control */ + } else if (thrust < startpoint_full_control && thrust > min_thrust) { - output_factor = (thrust/max_thrust)/(startpoint_full_control-min_thrust); - /* and then stay at full control */ + output_factor = (thrust / max_thrust) / (startpoint_full_control - min_thrust); + /* and then stay at full control */ + } else { output_factor = max_thrust; } diff --git a/apps/systemlib/mixer/mixer_simple.cpp b/apps/systemlib/mixer/mixer_simple.cpp new file mode 100644 index 000000000..07dc5f37f --- /dev/null +++ b/apps/systemlib/mixer/mixer_simple.cpp @@ -0,0 +1,334 @@ +/**************************************************************************** + * + * 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_simple.cpp + * + * Simple summing mixer. + */ + +#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 <ctype.h> + +#include "mixer.h" + +#define debug(fmt, args...) do { } while(0) +//#define debug(fmt, args...) do { printf("[mixer] " fmt "\n", ##args); } while(0) + +SimpleMixer::SimpleMixer(ControlCallback control_cb, + uintptr_t cb_handle, + mixer_simple_s *mixinfo) : + Mixer(control_cb, cb_handle), + _info(mixinfo) +{ +} + +SimpleMixer::~SimpleMixer() +{ + if (_info != nullptr) + free(_info); +} + +static const char * +findtag(const char *buf, unsigned &buflen, char tag) +{ + while (buflen >= 2) { + if ((buf[0] == tag) && (buf[1] == ':')) + return buf; + buf++; + buflen--; + } + return nullptr; +} + +static void +skipline(const char *buf, unsigned &buflen) +{ + const char *p; + + /* if we can find a CR or NL in the buffer, skip up to it */ + if ((p = (const char *)memchr(buf, '\r', buflen)) || (p = (const char *)memchr(buf, '\n', buflen))) + buflen -= (p - buf); +} + +int +SimpleMixer::parse_output_scaler(const char *buf, unsigned &buflen, mixer_scaler_s &scaler) +{ + int ret; + int s[5]; + + buf = findtag(buf, buflen, 'O'); + if ((buf == nullptr) || (buflen < 12)) + return -1; + + if ((ret = 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' (got %d)", buf, ret); + return -1; + } + skipline(buf, buflen); + + 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; +} + +int +SimpleMixer::parse_control_scaler(const char *buf, unsigned &buflen, mixer_scaler_s &scaler, uint8_t &control_group, uint8_t &control_index) +{ + unsigned u[2]; + int s[5]; + + buf = findtag(buf, buflen, 'S'); + if ((buf == nullptr) || (buflen < 16)) + return -1; + + 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("control parse failed on '%s'", buf); + return -1; + } + skipline(buf, buflen); + + 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 * +SimpleMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handle, const char *buf, unsigned &buflen) +{ + SimpleMixer *sm = nullptr; + mixer_simple_s *mixinfo = nullptr; + unsigned inputs; + int used; + const char *end = buf + buflen; + + /* get the base info for the mixer */ + if (sscanf(buf, "M: %u%n", &inputs, &used) != 1) { + debug("simple parse failed on '%s'", buf); + goto out; + } + + buflen -= used; + + mixinfo = (mixer_simple_s *)malloc(MIXER_SIMPLE_SIZE(inputs)); + + if (mixinfo == nullptr) { + debug("could not allocate memory for mixer info"); + goto out; + } + + mixinfo->control_count = inputs; + + if (parse_output_scaler(end - buflen, buflen, mixinfo->output_scaler)) + goto out; + + for (unsigned i = 0; i < inputs; i++) { + if (parse_control_scaler(end - buflen, buflen, + mixinfo->controls[i].scaler, + mixinfo->controls[i].control_group, + mixinfo->controls[i].control_index)) + goto out; + } + + sm = new SimpleMixer(control_cb, cb_handle, mixinfo); + + if (sm != nullptr) { + mixinfo = nullptr; + debug("loaded mixer with %d inputs", inputs); + + } else { + debug("could not allocate memory for mixer"); + } + +out: + + if (mixinfo != nullptr) + free(mixinfo); + + return sm; +} + +SimpleMixer * +SimpleMixer::pwm_input(Mixer::ControlCallback control_cb, uintptr_t cb_handle, unsigned input, uint16_t min, uint16_t mid, uint16_t max) +{ + SimpleMixer *sm = nullptr; + mixer_simple_s *mixinfo = nullptr; + + mixinfo = (mixer_simple_s *)malloc(MIXER_SIMPLE_SIZE(1)); + + if (mixinfo == nullptr) { + debug("could not allocate memory for mixer info"); + goto out; + } + + mixinfo->control_count = 1; + + /* + * Always pull from group 0, with the input value giving the channel. + */ + mixinfo->controls[0].control_group = 0; + mixinfo->controls[0].control_index = input; + + /* + * Conversion uses both the input and output side of the mixer. + * + * The input side is used to slide the control value such that the min argument + * results in a value of zero. + * + * The output side is used to apply the scaling for the min/max values so that + * the resulting output is a -1.0 ... 1.0 value for the min...max range. + */ + mixinfo->controls[0].scaler.negative_scale = 1.0f; + mixinfo->controls[0].scaler.positive_scale = 1.0f; + mixinfo->controls[0].scaler.offset = -mid; + mixinfo->controls[0].scaler.min_output = -(mid - min); + mixinfo->controls[0].scaler.max_output = (max - mid); + + mixinfo->output_scaler.negative_scale = 500.0f / (mid - min); + mixinfo->output_scaler.positive_scale = 500.0f / (max - mid); + mixinfo->output_scaler.offset = 0.0f; + mixinfo->output_scaler.min_output = -1.0f; + mixinfo->output_scaler.max_output = 1.0f; + + sm = new SimpleMixer(control_cb, cb_handle, mixinfo); + + if (sm != nullptr) { + mixinfo = nullptr; + debug("PWM input mixer for %d", input); + + } else { + debug("could not allocate memory for PWM input mixer"); + } + +out: + + if (mixinfo != nullptr) + free(mixinfo); + + return sm; +} + +unsigned +SimpleMixer::mix(float *outputs, unsigned space) +{ + float sum = 0.0f; + + if (_info == nullptr) + return 0; + + if (space < 1) + return 0; + + for (unsigned i = 0; i < _info->control_count; i++) { + float input; + + _control_cb(_cb_handle, + _info->controls[i].control_group, + _info->controls[i].control_index, + input); + + sum += scale(_info->controls[i].scaler, input); + } + + *outputs = scale(_info->output_scaler, sum); + return 1; +} + +void +SimpleMixer::groups_required(uint32_t &groups) +{ + for (unsigned i = 0; i < _info->control_count; i++) + groups |= 1 << _info->controls[i].control_group; +} + +int +SimpleMixer::check() +{ + int ret; + float junk; + + /* sanity that presumes that a mixer includes a control no more than once */ + /* max of 32 groups due to groups_required API */ + if (_info->control_count > 32) + return -2; + + /* validate the output scaler */ + ret = scale_check(_info->output_scaler); + + if (ret != 0) + return ret; + + /* validate input scalers */ + for (unsigned i = 0; i < _info->control_count; i++) { + + /* verify that we can fetch the control */ + if (_control_cb(_cb_handle, + _info->controls[i].control_group, + _info->controls[i].control_index, + junk) != 0) { + return -3; + } + + /* validate the scaler */ + ret = scale_check(_info->controls[i].scaler); + + if (ret != 0) + return (10 * i + ret); + } + + return 0; +} |